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JRM Vol.19 No.3 pp. 290-297
doi: 10.20965/jrm.2007.p0290
(2007)

Paper:

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

Naotaka Hikosaka, Kei Watanabe, and Kazunori Umeda

Department of Precision Mechanics, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

Received:
October 23, 2006
Accepted:
March 24, 2007
Published:
June 20, 2007
Keywords:
small range image sensor, humanoid, relative disparity map, obstacle avoidance
Abstract

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.

Cite this article as:
Naotaka Hikosaka, Kei Watanabe, and Kazunori Umeda, “Development of Obstacle Recognition System of Humanoids Using Relative Disparity Maps from Small Range Image Sensors,” J. Robot. Mechatron., Vol.19, No.3, pp. 290-297, 2007.
Data files:
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