Plane extraction for navigation of humanoid robot
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In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented. After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used: pipe and stairs. Two planes in pipe model and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot’s navigation.
Key wordshumanoid robot navigation line segments splitting region growing plane extraction depth image
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