  In recent years, the numbers of life-size humanoids as well as their mobile
capabilities have steadily grown. Stable walking motion and control for
humanoid robots are active fields of research. In this scenario an open
question is how to model and analyse the scene so that a motion planning
algorithm can generate an appropriate walking pattern. This paper presents the
current work towards scene modelling and understanding, using an RGBD sensor.
The main objective is to provide the humanoid robot iCub with capabilities to
navigate safely and interact with various parts of the environment. In this
sense we address the problem of traversability analysis of the scene, focusing
on classification of point clouds as a function of mobility, and hence walking
safety.
