Apparatus and method for estimating location of mobile body and generating map of mobile body environment using upper image of mobile body environment, and computer readable recording medium storing computer program controlling the apparatus

• US 20060165276A1
• Filed: 01/13/2006
• Published: 07/27/2006
• Est. Priority Date: 01/25/2005
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Myeong, Hyeon, Hong, Sungi, Lee, Hyoungki
• Granted Patent: US 8,831,872 B2
• Time in Patent Office: Days
• US Class Current: 382/153
• CPC Class Codes: G05D 1/0253 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow determining position or orientation from images G06T7/70
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

An apparatus and method for estimating a location of a mobile body and generating a map of a mobile body environment using an upper image of the mobile body environment, and a computer readable recording medium storing a computer program for controlling the apparatus. The apparatus includes: a landmark generating unit observing corner points from the upper image obtained by photographing in an upper vertical direction in the mobile body environment and respectively generating landmarks from the observed corner points; and a location and map operation unit estimating the location of the mobile body and generating the map of the mobile body environment from the landmarks.

Claims