This ROS package is based on the previous stair-perception kit with the following upgrades:
- ROS package
- using a faster organized point cloud segmentation method: PEAC (Plane Extraction using Agglomerative Clustering)
- and stair modeling optimization
- Kinect V2
- IMU
- Ubuntu16.04
- ROS kinetic
- libfreenect2
- opencv(ROS included)
- pcl(ROS included)
cd ~/catkin_ws/src
git clone https://github.com/Shiaoming/stair-perception-ROS
cd ~/catkin_ws
catkin_make --pkg plane_msg stair_info_msg -DCMAKE_BUILD_TYPE=Release
catkin_make -DCMAKE_BUILD_TYPE=Release
For more details about this algorithm, please refer:
@article{zhao_adaptive_2019,
title = {An adaptive stair-ascending gait generation approach based on depth camera for lower limb exoskeleton},
volume = {90},
issn = {0034-6748},
url = {https://doi.org/10.1063/1.5109741},
doi = {10/ggsxh2},
number = {12},
journal = {Review of Scientific Instruments},
author = {Zhao, Xiaoming and Chen, Wei-Hai and Li, Bing and Wu, Xingming and Wang, Jianhua},
month = dec,
year = {2019},
note = {Publisher: AIP Publishing, LLC},
pages = {125112}
}
@inproceedings{zhao2018real,
title={Real-Time Stairs Geometric Parameters Estimation for Lower Limb Rehabilitation Exoskeleton},
author={Zhao, Xiaoming and Chen, Weihai and Yan, Xing and Wang, Jianhua and Wu, Xingming},
booktitle={2018 Chinese Control And Decision Conference (CCDC)},
pages={5018--5023},
year={2018},
organization={IEEE}
}