1P1-E08 Recognition of the stairs by multiple-region conical-scanning(3D Measurement/Sensor Fusion)
Kazuteru TOBITA, Chisato Kanamori, Yuto Okubo, Hironori Ogawa, Sumio Sugita · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
We have proposed a new three dimensional environment recognition method using conical scanning distance measurement for 3-D mobile robot that can walk up and down the stairs. This report describes the method to recognize the stair by applying the conical scanning method. The procedures are as follows. 1) Recognizing the positions and postures of multiple regions on 3D-TOF-camera. 2) Linking neighboring regions by using image processing. 3) Extracting the step based on height information. 4) Calculating the position, direction and width of the stair. We devised the algorithm, implemented, and experiments were carried out.