Abstract
This paper describes a travelable area detecting method using a 2D laser range scanner sensor. The scan data of surrounding terrain obtained by swinging the laser range scanner sensor are plotted on a 2D image. The travelable and non-travelable areas can be detected from the image based on size of the obstacles such as curbstones, bumps and holes in the road, and so on. The experimental results show that width and height of the obstacles are possibly measured with the proposed method.
