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<p>Detection of a staircase is an important task in the fields of both assistive technology and autonomous navigation with an aim to enable substantial improvement in safety and accessibility for both those with limited vision and those with mobility problems. Classic methods often perform poorly under challenging conditions, such as low lighting, irregular architectural arrangements, or occluded views. Whereas the integration of physical depth sensors has increased detection accuracy, this integration introduces increased complexity, cost and greater maintenance issues. Our work proposes a novel architecture capable of directly estimating depth maps from color images using a pre-trained model without relying on physical sensors for depth estimation. It detects the staircase efficiently, including the classification of stair lines into concave or convex, with the classification of surfaces as a tread or riser, hence localizing staircases accurately. Our proposed methodology demonstrated exceptional results, with 83.2% Precision, 90.8% Recall, and 72.2% Intersection over Union on stair line classification and 97.1% Pixel Accuracy and 82.9% Mean Pixel Accuracy on stair surfaces by outperforming the efficacy of current approaches pertaining to stair line and surface classification.</p>

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Stairdepth: a novel staircase detection through depth maps generated by depth anything V2

  • 期刊论文

  • 发表日期：

    2025年2月28日

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  • Avire Laxmi Chandra Shekar,
  • Mukkolla Bhuvana Chandrika,
  • Vakkalagadda Hemanth Naidu,
  • Naresh Babu Muppalaneni

摘要

Detection of a staircase is an important task in the fields of both assistive technology and autonomous navigation with an aim to enable substantial improvement in safety and accessibility for both those with limited vision and those with mobility problems. Classic methods often perform poorly under challenging conditions, such as low lighting, irregular architectural arrangements, or occluded views. Whereas the integration of physical depth sensors has increased detection accuracy, this integration introduces increased complexity, cost and greater maintenance issues. Our work proposes a novel architecture capable of directly estimating depth maps from color images using a pre-trained model without relying on physical sensors for depth estimation. It detects the staircase efficiently, including the classification of stair lines into concave or convex, with the classification of surfaces as a tread or riser, hence localizing staircases accurately. Our proposed methodology demonstrated exceptional results, with 83.2% Precision, 90.8% Recall, and 72.2% Intersection over Union on stair line classification and 97.1% Pixel Accuracy and 82.9% Mean Pixel Accuracy on stair surfaces by outperforming the efficacy of current approaches pertaining to stair line and surface classification.