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

EURASIP Journal on Image and Video Processing

Table 2 Collected data. The thirteen scenes are described along with their illumination

Description	Illuminance	G1	G2	G3	G4	G5
	(lux)
Outdoor stairs in a city center	9920	∙		∙		∙
Outdoor stairs in a train station	9870	∙		∙		∙
Outdoor painted stairs	716	∙		∙		∙
Outdoor backyard stairs	657	∙		∙		∙
Outdoor stairs under a canopy cover	1655	∙		∙		∙
Indoor stairs in a house	37.8	∙	∙			∙
Indoor single stair in a house	21.5	∙	∙			∙
Indoor linoleum stairs	62.8	∙	∙			∙
Indoor scene close to a glass door	57.3	∙	∙			∙
Curb in a city centre	2000				∙	∙
Curb ramp in a city centre	4680				∙	∙
Outdoor tram platform	8460				∙	∙
Second Curb scene in a village	6240				∙	∙

Each group represents (G1) all the stairs, (G2) all the indoor stairs, (G3) all the outdoor stairs, (G4) all the curbs and (G5) all the scenes including both stairs and curbs. The bullet (∙) indicates to which group the scene was included