A humanoid robot working in a household environment with people needs to localize and continuously update the locations of obstacles and manipulable objects. Achieving such system, requires strong perception method to efficiently update the frequently changing environment.
['Youhei Kakiuchi', 'Ryohei Ueda', 'Kei Okada', 'Masayuki Inaba']
Creating household environment map for environment manipulation using color range sensors on environment and robot