Abstract: A method for the extraction of information about a staircase includes scanning the staircase with a 3D scanning device to obtain a point cloud of the surface of the staircase; calculating the estimated normal vector of at least a part of the points of the point cloud; filtering the at least part of the points based on their normal vectors by ignoring points which do not have a normal vector with a substantially vertically upward direction; ordering the remaining points into sets of points based on their vertical elevation so that each set of points represents a step; determining a straight edge line of each set, which edge line represents the respective step; and storing a numerical representation of each determined edge line in the digital memory.