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.
