Abstract
This paper describes a three-dimensional environment recognition method for 3-D mobile robot that can walk up and down stairs. The recognition method using conical scanning distance measurement can measure environment shape, location, and posture. The procedures are as follows. 1) Setting up the direction of the scanning area. 2) Measuring distance that follows the conical generating line. 3) The extraction of the planar feature quantity. In this report, the experimental device was built using the TOF range imaging sensor. We applied this method, and recognition experiments that boundary between the stairs and the wall were carried out.
