Skip to main content
Fig. 3 | EURASIP Journal on Image and Video Processing

Fig. 3

From: Low-power depth-based descending stair detection for smart assistive devices

Fig. 3

(a) A rollator is facing a descending stair. {x,y} is the 2D coordinate system of the imager. {Y,X,Z} is the real world system coordinate. The stereo camera is tilted so that the beginning of the stairs, at (Y 0,Z 0), and the first step, at (Y 1,Z 1), give angles of θ and θ . (b) The first step is imaged by the camera as a trapezoid defined by its bases B 0, B 1 and its height H 0

Back to article page