{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:43Z","timestamp":1777715743821,"version":"3.51.4"},"reference-count":35,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2008,10,1]],"date-time":"2008-10-01T00:00:00Z","timestamp":1222819200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2008,10]]},"abstract":"<jats:p>A humanoid robot that can go up and down stairs, crawl underneath obstacles or simply walk around requires reliable perceptual capabilities for obtaining accurate and useful information about its surroundings. In this work we present a system for generating three-dimensional (3D) environment maps from data taken by stereo vision. At the core is a method for precise segmentation of range data into planar segments based on the algorithm of scan-line grouping extended to cope with the noise dynamics of stereo vision. In off-line experiments we demonstrate that our extensions achieve a more precise segmentation. When compared to a previously developed patch-let method, we obtain a richer segmentation with a higher accuracy while also requiring far less computations. From the obtained segmentation we then build a 3D environment map using occupancy grid and floor height maps. The resulting representation classifies areas into one of six different types while also providing object height information. We apply our perception method for the navigation of the humanoid robot QRIO and present experiments of the robot stepping through narrow space, walking up and down stairs and crawling underneath a table.<\/jats:p>","DOI":"10.1177\/0278364908096316","type":"journal-article","created":{"date-parts":[[2008,9,23]],"date-time":"2008-09-23T07:15:12Z","timestamp":1222154112000},"page":"1117-1134","source":"Crossref","is-referenced-by-count":102,"title":["3D Perception and Environment Map Generation for Humanoid Robot Navigation"],"prefix":"10.1177","volume":"27","author":[{"given":"Jens-Steffen","family":"Gutmann","sequence":"first","affiliation":[{"name":"Intelligent Systems Research Laboratory Sony Corporation Tokyo,                     Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masaki","family":"Fukuchi","sequence":"additional","affiliation":[{"name":"Intelligent Systems Research Laboratory Sony Corporation Tokyo,                     Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masahiro","family":"Fujita","sequence":"additional","affiliation":[{"name":"Intelligent Systems Research Laboratory Sony Corporation Tokyo, Japan,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2008,10,1]]},"reference":[{"key":"atypb1","volume-title":"International Conference on Recent Advances in 3-D Digital Imaging and Modeling (3DIM)","author":"Checchin, P."},{"key":"atypb2","volume-title":"International Conference on Humanoid Robotics (Humanoids), Karlsruhe","author":"Chestnutt, J."},{"key":"atypb3","volume-title":"International Conference on Computer Vision (ICCV)","author":"Davison, A."},{"key":"atypb4","volume-title":"Pattern classification and scene analysis","author":"Duda, R.","year":"1973"},{"key":"atypb5","volume-title":"European Conference on Computer Vision (ECCV)","author":"Fitzgibbon, A.W."},{"key":"atypb6","volume-title":"International Conference on Advanced Intelligent Mechatronics (AIM)","author":"Fujita, M."},{"key":"atypb7","volume-title":"British Machine Vision Conference (BMVC)","author":"Gee, A."},{"key":"atypb8","volume-title":"International Conference on Intelligent Robots and Systems (IROS)","author":"Gutmann, J.-S."},{"key":"atypb9","volume-title":"International Conference on Robotics and Automation (ICRA)","author":"Gutmann, J.-S."},{"key":"atypb10","volume-title":"International Conference on Humanoid Robotics (Humanoids)","author":"Gutmann, J.-S."},{"key":"atypb11","volume-title":"International Joint Conference on Artificial Intelligence (IJCAI)","author":"Gutmann, J.-S."},{"key":"atypb12","volume-title":"Symposium on Intelligent Autonomous Vehicles (IAV)","author":"Gutmann, J.-S."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(03)00007-1"},{"key":"atypb14","volume-title":"International Conference on Pattern Recognition (ICPR)","author":"Haindl, M."},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1109\/34.506791"},{"key":"atypb16","volume-title":"International Symposium on Experimental Robotics (ISER)","author":"Iocchi, L."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1007\/BF01215806"},{"key":"atypb18","volume-title":"International Conference on Robotics and Automation (ICRA)","author":"Kagami, S."},{"key":"atypb19","volume-title":"International Conference on Robotics and Automation (ICRA)","author":"Kanehiro, F."},{"key":"atypb20","volume-title":"International Conference on Robotics and Automation (ICRA)","author":"Karlsson, N."},{"key":"atypb21","volume-title":"International Conference on Pattern Recognition (ICPR)","author":"Lakaemper, R."},{"key":"atypb22","volume-title":"International Conference on Robotics and Automation (ICRA)","author":"Li, T.-Y."},{"key":"atypb23","volume-title":"International Conference on Intelligent Robots and Systems (IROS)","author":"Lorch, O."},{"key":"atypb24","volume-title":"Shape Registration using Optimization for Mobile Robot Navigation. 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