A split state-space Bayesian filter estimates full staircase geometry and segments stair surfaces reliably from noisy, occluded, cluttered point clouds.
Robust stairway-detection and localization method for mobile robots using a graph-based model and competing initializations,
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A Bayesian Modeling Framework for Estimation and Ground Segmentation of Cluttered Staircases
A split state-space Bayesian filter estimates full staircase geometry and segments stair surfaces reliably from noisy, occluded, cluttered point clouds.