Abstract
This paper describes a three-dimensional environment recognition method using vertical and horizontal scanning distance measurement for 3-D mobile robot that can walk up stairs. This method can recognize environment shape, location, and posture. The procedures are as follows .1) Getting the distance data from the TOF range imaging sensor. 2) The extraction of the feature quantity of the vertical scanning lines. 3) The extraction of the horizontal feature quantity concerning multiple scanning lines. 4) The recognition of the environment according to the consolidation of the information. When the sensor finds stairs, it can measure the relative location between the sensor and the stairs and the geometries of the stairs.
