2016 年 52 巻 3 号 p. 152-159
This paper describes the extraction method of low up and down steps and objects in urban area. For autonomous mobile robots, one of the most important technologies is a travelable area extraction. It is similar to extract the low obstacles. However, the position of the laser scanner is unstable since the most of road surface is rough. Therefore, low objects are often confused with the ground and it is difficult to distinguish them by measurement of height. On the other hand, the horizontal distance measured by the 3D-laser scanner has a difference. The measurement distance to the low object is shorter than ground. The distance table as reference is adopted. The scan data from a 3D-laser scanner is compared with the table to extract the low object. On the experiments in outdoor environment, the curb stones of the load under 10cm were extracted correctly in several scene. This method contributes navigation scene that a robot avoids contact with most of the objects in urban area.