Stairway segmentation using Gabor Filter and vanishing point

Abstract

This paper we are proposing to detect the localization and recognition of an indoor stairway. This is a fundamental step in the implementing of autonomous stair climbing navigation, as well as the implementing of passive alarm systems intended for the blind and visually impaired. This method analyzes the edges of a stairway based on planar motion tracking and directional filters. The horizontal edges of the stairs are extracted by using the Gabor Filter. Then, the vanishing point is extracted from the specified set of line segments in the aim of facilitating the reconstruction of the stair treads. After this stage, we extract a hypothetical set of targets by using the correlation method. Finally, we employ the discrimination method to find the ground plane, using the behavioral distance measurement. Consequently, the remaining information is considered as an indoor stairway candidate region. As a result, testing is able to prove its effectiveness.