Park, C.-S. Kim, D. 2024-01-20T13:32:28Z 2024-01-20T13:32:28Z 2021-08-31 2012-12 1976-5622 https://pubs.kist.re.kr/handle/201004/128638 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. ？ ICROS 2012. Korean 3d depth maps Extraction method Hierarchical clustering methods Humanoid robot Laser scanner Obstacle detection Range segmentation Unstructured environments Image segmentation Laser applications Obstacle detectors Three dimensional Anthropomorphic robots Obstacle detection for generating the motion of humanoid robot Article 10.5302/J.ICROS.2012.18.12.1115 1 Journal of Institute of Control, Robotics and Systems, v.18, no.12, pp.1115 - 1121 Journal of Institute of Control, Robotics and Systems 18 12 1115 1121 scopus kci ART001716301 2-s2.0-84881250770 Article 3d depth maps Extraction method Hierarchical clustering methods Humanoid robot Laser scanner Obstacle detection Range segmentation Unstructured environments Image segmentation Laser applications Obstacle detectors Three dimensional Anthropomorphic robots 3D depth map Humanoid robot Laser scanner Plane extraction Range segmentation