装着型ロボットの不整地歩行に向けた路面形状の計測

抄録

In this paper, we propose a floor surface measurement system for walking assistance with a wearable robot. The point cloud of the floor and an obstacle were measured by a RGB-Depth camera. We assume that most of the points in the point cloud consist of the surface of the floor, and the plane of the floor surface was reconstructed by a principal component analysis (PCA) of the point cloud. The obstacle was reconstructed by the subgroup of the points cloud in which the distance from the floor surface was higher than a threshold. The experimental results showed that the PCA-based method could discriminate of the floor surface and obstacle and could estimate the size of the obstacle.