Stair Boundary Extraction using the 2D Laser Scanner

Title
Stair Boundary Extraction using the 2D Laser Scanner
Authors
박찬수서은호김도익유범재오상록
Keywords
Stair; Boundray Extraction; Laser
Issue Date
2011-08
Publisher
International Conference on Mechatronics and Automation (ICMA 2011)
Citation
, 1538-1543
Abstract
This paper proposes a method to detect stair boundaries for a humanoid robot. To measure accurate boundaries of stair surfaces, a 2D laser scanner is installed on the head of a humanoid robot called MAHRU-1. By moving the head up and down, the 3D point depth map around a robot is obtained from the 2D laser scan data. After generating the 3D point depth map around a robot, a calibration method is applied to the 3D data to obtain the accurate 3D point depth map. After calibrating the 3D map, the boundaries of obstacles such as stairs are extracted from the 3D point depth map. Finally, performance of the proposed method is discussed with experimental results. The results show that the proposed method is effective to detect the boundaries of the stairs accurately for generating the walking motion of a humanoid robot.
URI
http://pubs.kist.re.kr/handle/201004/40180
Appears in Collections:
KIST Publication > Conference Paper
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