DocumentCode :
3353981
Title :
Construction of a compact range image sensor using multi-slit laser projector and obstacle detection of a humanoid with the sensor
Author :
Kuroki, Takahiro ; Terabayashi, Kenji ; Umeda, Kazunori
Author_Institution :
Sch. of Sci. & Eng., Chuo Univ., Tokyo, Japan
fYear :
2010
fDate :
18-22 Oct. 2010
Firstpage :
5972
Lastpage :
5977
Abstract :
Detection of obstacles on a plane is important for a mobile robot that moves in a living space, especially for a humanoid that falls down even with a small obstacle. In this paper, a range image sensor for detecting small obstacles on a plane is constructed using a multi-slit laser projector. The sensor consists of a commercially available laser projector and a CCD camera. It measures a relative disparity map (RDMap) whose measurement errors are not affected by the distance. From the obtained RDMap, a plane is estimated using RANSAC and regions out of the plane are detected as obstacles. Experiments show that planes can be obtained with small errors in RDMaps with the constructed sensor, and that a humanoid with the constructed sensor can detect small obstacles such as a moving ping-pong ball and a LAN cable on a plane by the proposed methods while walking.
Keywords :
collision avoidance; humanoid robots; image sensors; robot vision; LAN cable; RDMap; compact range image sensor; measurement errors; mobile robot; multislit laser projector; obstacle detection; ping-pong ball; relative disparity map;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
ISSN :
2153-0858
Print_ISBN :
978-1-4244-6674-0
Type :
conf
DOI :
10.1109/IROS.2010.5652710
Filename :
5652710
Link To Document :
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