how to detect downstairs or cliff using pointcloud

asked 2021-04-23 03:01:04 -0500

siddharthcb gravatar image

updated 2022-03-08 07:26:17 -0500

lucasw gravatar image

hi, I am planning to make a roomba like robot using lidar and depth sensor. I used pointcloud_to_laserscan for 3D object detection but I am stuck with ideas on how I can detect cliffs or declined surface. Though I came across this depth_nav_tools package but looks like it works along with costmap. for my application I am not creating a map and I am just letting the bot navigate in an unknown environment with downstairs in it. Any insights on this would be really helpful. Thank you.

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Were you able to find a suitable solution?

parzival gravatar image parzival  ( 2021-05-27 13:03:42 -0500 )edit

@parzival I havent got started with it yet. Upon my research, i realized it is possible through segmentation using pcl. Let me know if you come across any other approach?

siddharthcb gravatar image siddharthcb  ( 2021-05-28 06:21:48 -0500 )edit