This video shows our laserequipped Nao humanoid climbing a spiral
staircase. Details will be presented in the paper "Improved Proposals for Highly Accurate Localization Using Range and Vision Data" by
Stefan Oßwald, Armin Hornung, and Maren Bennewitz at the IROS 2012 conference.

The robot integrates observations from the laser range
scanner on top of its head with observations from the camera located
in its lower head. By consistently matching the known staircase model
to a set of images acquired on each step, the robot is able to accurately
locate itself towards the stairs and to climb them reliably.

See https://www.hrl.unibonn.de/papers/os... for more information.