Obstacle detection is essential for mobile robots to avoid collision with obstacles.Mobile robots usually operate in indoor environments,where they encounter various kinds of obstacles;however,2D range sensor can sens...Obstacle detection is essential for mobile robots to avoid collision with obstacles.Mobile robots usually operate in indoor environments,where they encounter various kinds of obstacles;however,2D range sensor can sense obstacles only in 2D plane.In contrast,by using 3D range sensor,it is possible to detect ground and aerial obstacles that 2D range sensor cannot sense.In this paper,we present a 3D obstacle detection method that will help overcome the limitations of 2D range sensor with regard to obstacle detection.The indoor environment typically consists of a flat floor.The position of the floor can be determined by estimating the plane using the least squares method.Having determined the position of the floor,the points of obstacles can be known by rejecting the points of the floor.In the experimental section,we show the results of this approach using a Kinect sensor.展开更多
基金The MKE(Ministry of Knowledge Economy),Korea,under the ITRC(Information Technology Research Center)support program(NIPA-2013-H0301-13-2006)supervised by the NIPA(National IT Industry Promotion Agency)The National Research Foundation of Korea(NRF)grant funded by the Korea government(MEST)(2013-029812)The MKE(Ministry of Knowledge Economy),Korea,under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA(NIPA-2013-H1502-13-1001)
文摘Obstacle detection is essential for mobile robots to avoid collision with obstacles.Mobile robots usually operate in indoor environments,where they encounter various kinds of obstacles;however,2D range sensor can sense obstacles only in 2D plane.In contrast,by using 3D range sensor,it is possible to detect ground and aerial obstacles that 2D range sensor cannot sense.In this paper,we present a 3D obstacle detection method that will help overcome the limitations of 2D range sensor with regard to obstacle detection.The indoor environment typically consists of a flat floor.The position of the floor can be determined by estimating the plane using the least squares method.Having determined the position of the floor,the points of obstacles can be known by rejecting the points of the floor.In the experimental section,we show the results of this approach using a Kinect sensor.
