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Detection of stair steps using a LiDAR depth camera
The camera is calibrated with the help of three points in the ground plane.
After calibration, the camera can measure the heights and corner points of the stair steps that are in the measurement area. External world coordinates are displayed on the left.
Integration with ROS
If you are familiar with the Robot Operating System, you can use the simple wrapper for ROS2 Galactic Geochelone. Among other things, it contains a ROS package with which the measured stair steps can be visualized. The display is done with RViz, the 3D visualization tool for ROS. Here you can see an example:
See ROS Wiki for more details.
It becomes even more convenient: If you are interested in Model-Driven Engineering (MDE), you can use the model of the stair-step-detector. You can combine this with other ROS components and create an ROS system without manual coding. The code generation is done by sophisticated and advanced tools.
Diagram of an exemplary ROS system
You can find the tools you need here: https://github.com/ipa320/ros-model