Identification of types of obstacles for mobile robots

Authors:
Yusuke Tamura;Yu Murai;Hiroki Murakami;Hajime Asama
Affiliations:
Graduate School of Engineering, The University of Tokyo, Tokyo, Japan 113-8656;Graduate School of Engineering, The University of Tokyo, Tokyo, Japan 113-8656;Graduate School of Engineering, The University of Tokyo, Tokyo, Japan 113-8656;Graduate School of Engineering, The University of Tokyo, Tokyo, Japan 113-8656
Venue:
Intelligent Service Robotics
Year:
2011

Citing 1
Cited 0

A Method for Registration of 3-D Shapes

IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II

Quantified Score

Hi-index	0.00

Visualization

Abstract

For service robots coexisting with humans, both safety and working efficiency are very important. In order for robots to avoid collisions with surrounding obstacles, the robots must recognize obstacles around them. In dynamic environments, not only currently moving obstacles but also movable obstacles should be recognized. In this paper, three types of obstacles, such as stationary, movable and moving, are defined, and a method to identify the type of obstacles is proposed. The experiments using a mobile robot were conducted to evaluate the usefulness of the method.