a. Description:
A humanoid (Fujitsu HOAP2) detects obstacles on a plane while walking and stops. Obstacles are detected using a relative disparity map (RDMap). An RDMap has an interesting feature that a plane in real 3D space also becomes a plane in the map, and has homogeneous characteristics compared to an ordinary range image. A small range image sensor that projects 19x19 laser spots and obtains a range image in real time is used. The left-top image is the original image obtained by the CCD camera of the sensor. We can see spot positions move horizontally according to the humanoid's motion and emergence of the obstacle.

b. Player Information:
We tested our video with folloiwng softwares.
 Windows Media Player 10
 QuickTime Player 6.5.2

c. Contact Information:
If you are interested, please contact following person.
Prof. Kazunori Umeda
Dept. Precision Mechanics, Faculty of Science and Engineering, Chuo University, Japan
Tel.&Fax.+81-3-3817-1826  Fax.+81-3-3817-1820
E-mail:umeda@mech.chuo-u.ac.jp
http://www.mech.chuo-u.ac.jp/umedalab/


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