Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In recent years, there is a strong demand for increasing the accessibility in public spaces. An accessibility map is a map showing areas where wheelchair users can pass, and it is useful for the disabled and the elderly. In this paper, in order to generate an accessibility map, we estimate traversable regions in a 3D point cloud map. First, a 3D point cloud map is divided into small cells and horizontal planes are detected with consideration of their height. Then, based on the height of each plane, we estimate the connected traversable regions. If there are adjacent cells with a similar height, we define that it is possible to pass between them. In addition, a region where the height is continuously changing is defined as a slope candidate. Finally, we represent their connection relation as an undirected graph.
