The Improved Security System in Smart Wheelchairs for Detecting Stair Descent using Image Analysis. - Fitri Utaminingrum; Ahmad Wali Satria Bahari Johan; Yuita Arum Sari; I Komang Somawirata; Abass Abolarinwa A. Olaode (ICSCA, 2021)

Descending stairs and floors classification as control reference in autonomous smart wheelchair. - Fitri Utaminingrum; Ahmad Wali Satria Bahari Johan; I Komang Somawirata; Risnandar; Anindita Septiarini (J. King Saud Univ. Comput. Inf. Sci., 2022)

Indoor staircase detection for supporting security systems in autonomous smart wheelchairs based on deep analysis of the Co-occurrence Matrix and Binary Classification. - Fitri Utaminingrum; Ahmad Wali Satria Bahari Johan; I Komang Somawirata; Timothy K. Shih; Chih-Yang Lin (Intell. Syst. Appl., 2024)