This paper shows walking human avoidance and detection behavior of a mobile robot using 3D DepthFlow. we propose 3D Depth Flow, that is able tomeasure 3D motion vector of every pixels betweentwo time sequential images. First, a denition of 3DDepth Flow and a simple 3D Depth Flow calculationmethod are denoted. Then an implementation of real-time 3D Depth Flow Generation system using stan-dard PC, and experimental results are denoted. Fi-nally, as an application, walking human detection andavoidance task using a mobile robot in real environ-ments is shown.
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Keyword: perception, humanoid, IEEE (GOOGLE)