Feasibility Investigation of Obstacle-Avoiding Sensors Unit without Image Processing

Table 1

Step height evaluation results in units of cm. 1000 sensing trials are averaged. The medial filter number (𝑁1) is 5. The real step height (ℎ1) is 1.30 cm.

	Upward step height (cm)	Downward step height (cm)
Mean value	1.30	−1.33
Max. value	1.45	−1.00
Min. value	1.18	−1.56
Variance	0.0057	0.0019