Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Obstacle Detection for Generating the Motion of Humanoid Robot

휴머노이드 로봇의 움직임 생성을 위한 장애물 인식방법

  • 박찬수 (한국과학기술연구원 실감교류로보틱스센터) ;
  • 김도익 (한국과학기술연구원 실감교류로보틱스센터)
  • Received : 2012.03.28
  • Accepted : 2012.11.07
  • Published : 2012.12.01
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Abstract

This paper proposes a method to extract accurate plane of an object in unstructured environment for a humanoid robot by using a laser scanner. By panning and tilting 2D laser scanner installed on the head of a humanoid robot, 3D depth map of unstructured environment is generated. After generating the 3D depth map around a robot, the proposed plane extraction method is applied to the 3D depth map. By using the hierarchical clustering method, points on the same plane are extracted from the point cloud in the 3D depth map. After segmenting the plane from the point cloud, dimensions of the planes are calculated. The accuracy of the extracted plane is evaluated with experimental results, which show the effectiveness of the proposed method to extract planes around a humanoid robot in unstructured environment.

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References

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