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中文摘要：
为了做类人动物机器人，在复杂情形自由地走，为从它的环境获得飞机信息的可靠能力被要求。为从立体声视觉拿的数据提取飞机的一个系统被介绍。在深度图象被获得以后，每根线的象素被扫描并且分成直线片断。线片断的附近的关系被放在连接结构。三个线片断的组作为种子区域被选择。一个队列为存储种子区域被维持，然后飞机区域在种子区域附近被扩展。区域变得继续直到种子区域的队列的过程是空的。在整修以后，飞机的边变得光滑。最后，提取了飞机被获得。在实验，二个模型被使用：管子和楼梯。在管子模型的二架飞机和在楼梯模型的六架飞机确切被提取。算法的速度和精确能满足类人动物机器人航行的要求。
英文摘要：
In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used： pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot＇s navigation.
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