Abstract
The article describes sensory subsystem required for proper operation of a special segment wheel designed for smooth driving both on a flat surface and on stairs. This subsystem contains two 2D laser scanners Hokuyo oriented towards stairs that provide point clouds for further processing. The main part of the article deals with the algorithm for detection of stair features (surfaces of stair treads and risers) in the data, including initial noise filtering. The conclusion provides practical testing performed on few real staircases and evaluation of the results.
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