1P1-E04 Mobile Environment Recognition Method using Conical Scanning Distance Measurement

Abstract

This paper describes 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. According to this method, robots can recognize object shape, location, and posture. The procedures are as follows. 1) Setting up the direction of the scanning area. 2) Measuring distance that follows the cone generating line. 3) The extraction of the planar feature quantity that noteworthy area. In this report, we apply this method to the 3D-TOF-camera. We report on the outcome of an experiment that it goes to the wall and the stairs used by this method.