Plane extraction for navigation of humanoid robot

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 maintaine...