Because of the unevenness of terrain and the uncertainty of the position and orientation of a mobile robot

it is difficult to get the obstacle characteristics in unknown environments.In order to detect the obstacle characteristics accurately

a 3D camera is used to obtain a gray image and the depth information of the environment.Then a threshold method based on the obtained gray image and the 3D information is presented to determine the area of an obstacle.But inaccurate feature detections will still exist in the above 3D information threshold method

caused by different factors

for example

too much transition regions between the ground and the obstacle are eliminated or the relative position between the robot and the slope is uncertain.In order to solve these problems

a region recovery algorithm and a computation method of slope degree estimation are developed.Experimental results show that our algorithm has the merits of simplicity

effectiveness

accuracy and high robustness.