1P1-E03 マルチスリット光を用いた小型距離画像センサの開発と障害物検出への応用

抄録

Detection of obstacles on a plane is important for a mobile robot that moves in a living space, especially for a humanoid that falls down even with a small obstacle. In this paper, a range image sensor for detecting small obstacles on a plane is constructed using a multi-slit laser projector. The sensor consists of a commercially available laser projector and a CCD camera. It measures a relative disparity map (RDMap) whose measurement errors are not affected by the distance. From the obtained RDMap, a plane is estimated using LMedS and regions out of the plane are detected as obstacles. Experiments show that the constructed sensor can detect small obstacles such as a LAN cable with the proposed methods.