Fig. 7From: Low-power depth-based descending stair detection for smart assistive devicesResulting depth map according to the resolution for a dangerous outdoor stair scene correctly predicted. From upper left to bottom right, (a) the left 512×384 image captured by the Bumblebee2 followed by the depth maps at respectively (b) 512×384, (c) 465×348, (d) 320×240, (e) 160×120 and (f) 51×38 pixelsBack to article page