Fig. 4From: Low-power depth-based descending stair detection for smart assistive devicesFlowchart of our approach to detect descending stairs. \(T_{R_{u}}\), \(T_{R_{l}}\), \(T_{G_{u}}\) and \(T_{G_{l}}\) are the thresholds on the pixel ratio and on the ground for the upper and lower sub-images, respectivelyBack to article page