Aiming at problem of determining the parameters of staircase structure in the process of autonomous crawling of compound robots in indoor staircase environment

a method of stair target identification and structure parameter identification based on information fusion of vision and laser sensors is proposed. The method processes the 3D point cloud data into a binary image

and determines the step depth and width by using the feature straight line extracted by the Hough transform. The step height is determined by the ratio of the distance between the point cloud straight line and the straight line of the step edge. The verification test shows that this method can quickly and efficiently obtain the parameters of stair structure with sufficient precision and provide the feedback information of task environment for stair climbing control.