Abstract
Abstract This paper deals with a method to recognize road terrain for a mobile robot to move in artificial environment structured for human. When a robot navigates in or near building, it is required to recognize road terrain and surroundings of both indoor and outdoor environment including slope, steps, stairs, and so on. For that, a technique to detect planes by 3D scanning with line segmentation was proposed in this research. It can detect planes effectively not by adapting typical random searching scheme but by utilizing line segment extracted from preprocessing of each planar scan data. Experiments with the proposed method to recognize the environment near building were carried out.
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