Self-locating device and program for executing self-locating method

• US 20060177101A1
• Filed: 11/23/2005
• Published: 08/10/2006
• Est. Priority Date: 02/10/2005
• Status: Abandoned Application

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Kato, Masahiro, Kato, Takeshi
• Application Number:
  US11/285,354
• Publication Number:
  US 20060177101A1
• Time in Patent Office: Days
• US Class Current: 382/106
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59

Abstract

A self-locating device that captures omni-directional camera images and determines its position and posture from the sensed images is disclosed. Omni-directional predicted images of a robot in a supposed moved position from an initial position are generated from omni-directional camera images that can be acquired when the robot is arranged in the initial position, and these predicted images and omni-directional images newly acquired when the robot has actually moved are matched with each other to detect the robot position and posture (direction).

Claims

1. A self-locating device comprising:

an image sensor for acquiring a plurality of sensed images with an omni-directional camera;

a predicted image synthesisor for generating predicted images to be sensed in each of a plurality of arrangement positions via said image sensor;

a recorder for recording said generated predicted images, each of said generated predicted images matched with at least one of the plurality of arrangement positions; and

a self-located position matcher for matching sensed images acquired via said image sensor with said plurality of predicted images to thereby acquire the position and posture of the device.

2. The self-locating device according to claim 1, wherein said self-located position matcher generates said predicted images from images sensed in an initial position and information on the distance to a snapping object in the images.

3. The self-locating device according to claim 1, further cpmprising a feature extractor for selecting a frequency analysis domain out of said plurality of sensed images, subjecting image data in the frequency analysis domain to wavelet transform, and extracting the distances and directions of markers matching the spectral components, wherein said predicted image synthesisor generates said predicted images using said extracted distances and directions.

4. The self-locating device according to claim 3, wherein said markers are arranged in positions assymettrically with respect to the initial position and wherein said markers number at least three.

5. The self-locating device, as set forth in any of claims 1, wherein the device travels on a ceiling.

6. The self-locating device, as set forth in any of claims 2, wherein the device travels on a ceiling.

7. The self-locating device, as set forth in any of claims 3, wherein the device travels on a ceiling.

8. A program for executing a self-locating method to be executed in information processing connected to a mobile body having an image sensor, said self-locating method comprising:

acquiring a plurality of sensed images using an omni-directional camera attached to the mobile body;

generating a plurality of predicted images expected to be sensed by said mobile body in positions to which said mobile body may move;

storing into a recording part the images matched with the positions to which said mobile body may move; and

matching said plurality of sensed images and said plurality of predicted images to determine the position and posture of the mobile body.

9. The program according to claim 8, wherein said plurality of predicted images are generated from images sensed in an initial position and information on the distance to the sensed object in the image.

10. The program according to claim 8, wherein said self-locating method further comprises:

sending operation control commands to the mobile body on the basis of said determined position and course information stored in advance.

11. The program according to claim 9, wherein said self-locating method further comprises:

sending operation control commands to the mobile body on the basis of said determined position and course information stored in advance.