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1、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 ofthree 1ine 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．Th e process of region growing continued un til the queue of seed regions was empty．Atier trimming．the edges of the planes became smooth．In the end，cxtracted planes were obtained．In the experiment．two models were used：pipe and stairs．Two planes in pipe mode1 and six planes in stairs model were extracted exactly．The speed and precision of algorithm can satisfy the demands ofhumanoid robot’s navigation． 2、Humanoid robots were considered to have more advantages of moving in environments designed for real humans than traditiona1 wheeled robots．The humanoid robots had more degrees of freedom and could use more actions while walking．so their movement was more flexible．111ey could step on or over obstacles f 1]，climb up or down stair[2]，turn around and even crawl underneath the object [3],etc．In complicated environments． the foun dationa1 problem of walking freely for the humanoid robots was navigation．At present，some famous humanoid robot platforms such as ASIM0 of HONDA f41,WABIAN一2 of Waseda University,and HRP一3 of AIST have been developed for veri ing al1 kinds of methods of controlling and navigation．Although related techn ologies were reported，the humanoid robots were still premature to use in actual 1ife．and there were practica1 problems．One of them was the stability while walking[5—6]．The inherent instability of hum anoid robots should be considered firstly,which was the main problem to make it difi cult in practical applications． 3、The navigation system generated a path that a robot moved along from a current position to a target position based on the mapping information around the robot．In the previous navigation techniques，wheeled robots were studied[7～81]：however,there were few researches on the navigation system for the humanoid robots． The movement of a humanoid robot could be split into limited actions and each action a~anged deferent foot placements[91]．The deferent sequences of actions would lead to deferent paths．A hum anoid robot was equipped with two cameras as its eyes．These actions required reliable perceptual capabilities for obtaining its surrounding info rrnation．It was assumed that there were two kinds of oNects in the circumstance where the humanoid robots moved[1O]．One was the object having planar surface that the robot’s fo ot could put on，such as floor,low and flat object，and stairs．The other was the obstacle which the robot could not step over and should try its best to avoid．such as wall and large object．It was important to distinguish the objects with flat surface from obstacles for the safe navigation of a humanoid robot．To solve this problem，the plane must be extracted from surroun ding info rm ation．In this work．a system is presented for extracting planes from data taken by stereo vision 4、OKADA et al[11] proposed mat 3D Hough Transforiilation was used for candidate extraction from depth map information and the plane segment candidates were fired into the depth map in order to detect the partial plane segment．CHEN et al[1 2]presented a newmethod of segmenting planar regions when all uncalibrated camera underwent pure translation．Both methods could segment the plane from original images， but the information of plane in real worid would not be obtained．Therefore，these methods were not fit for the humanoid robots．The method in this work would not only extract the planes from images but also would get the information about the planes such as position，angle and height. |
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