Obstacle recognition of a humanoid by detecting floor region with a small range image sensor

Abstract

This paper deals with a target that a humanoid with a small range image sensor recognizes obstacles and avoid them autonomously while walking. Planar regions, on which the humanoid can walk, and obstacles are distinguished by using a relative disparity image obtained by a small range image sensor. In addition, an integrated system that can feed back obtained obstacle information to the humanoid is constructed. Experiments show that the humanoid can recognize obstacles and stop walking autonomously by the proposed system.