Considering the requirements of climbing obstacle and stairs for Explosive Ordnance Disposal (EOD) robot, a method about step feature extraction based on two-dimensional (2D) laser radar is in great demand. In this paper, we research the three-dimensional (3D) environment feature extraction (EFE) method including the 3D point clouds map construction, the line feature extraction and the plane feature extraction. The EFE method can be applied to feature extraction of the step vertical plane. Based on the method, we construct a 3D feature recognition system (FRS) using 2D laser radar. FRS can hel...
