1. Liu Dong Research and development of self balancing stair climbing robot based on multi wheeled feet [D]. Southwest University, 2020.
2. Ni Zhipeng Algorithm Design and Implementation of Blind Anti collision System Based on IMU and Vision [D]. Zhejiang Sci-Tech University, 2020.
3. Real-Time Stairs Geometric Parameters Estimation for Lower Limb Rehabilitation Exoskeleton
4. A projective chirp based stair representation and detection from monocular images and its application for the visually impaired