A split state-space Bayesian filter estimates full staircase geometry and segments stair surfaces reliably from noisy, occluded, cluttered point clouds.
Staircase recognition and localization using convolutional neural network (cnn) for cleaning robot application,
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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.