Development of Obstacle Recognition System of Humanoids Using Relative Disparity Maps from Small Range Image Sensors | Zendy

Naotaka Hikosaka | Zendy; Kei Watanabe | Zendy; Kazunori Umeda | Zendy

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Development of Obstacle Recognition System of Humanoids Using Relative Disparity Maps from Small Range Image Sensors

Author(s) -

Naotaka Hikosaka,

Kei Watanabe,

Kazunori Umeda

Publication year - 2007

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2007.p0290

Subject(s) - obstacle , computer vision , artificial intelligence , humanoid robot , computer science , range (aeronautics) , controller (irrigation) , plane (geometry) , image plane , robot , image (mathematics) , engineering , mathematics , geography , archaeology , aerospace engineering , agronomy , geometry , biology

We discuss the recognition of obstacles by detecting a plane using relative disparity maps obtained from a small range image sensor incorporated in a humanoid. Our proposal enables easy plane detection and obstacle recognition using relative disparity from a reference plane alone. We built an integrated controller that feeds back obstacle information to the humanoid. We confirmed through experiments that the humanoid recognized obstacles and autonomously stopped walking.

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