Abstract
The author is developing an alarm dispatching system for a blind person, an elderly person on a mobility scooter or an unmanned mobile vehicle such as mobile a robot by using a depth sensor. The system is intended to raise an alarm for dangerous situations that can be detected by a depth sensor attached to the mobile body. For safely moving on a road or a floor, the important functions include detecting objects on the road and also holes or ditches. To find the road surface, we have employed an approach of estimating the posture of the depth sensor. In this paper, the algorithm and its application will be described, and numerical experiments will be conducted.
