Localization system and method of mobile robot based on camera and landmarks
First Claim
1. A localization system of a mobile robot, comprising:
- n number of landmarks attached at a ceiling and having wireless transmitting and receiving functions,a camera photographing the n number of landmarks;
a landmark detection part which flashes the landmarks attached at the ceiling and obtains positions and IDs of the landmarks from an image photographed by the camera to detect at least two landmarks;
a robot position detection part calculating the position of the mobile robot using the detected landmarks;
a landmark position prediction part which, when a new landmark is attached within a working zone, calculates a position of the new landmark on an absolute coordinate;
a topology map building part which builds a topology map of the mobile robot using the calculated position of the new landmark; and
a robot controller controlling a navigation of the mobile robot using the built topology map.
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Abstract
A localization system and method of a mobile robot using a camera and artificial landmarks in a home and a general office environment (or working zone) is provided. The localization system includes artificial landmarks having an LED flash function in an invisible wavelength band, a camera with a wide-angle lens, a module flashing landmarks attached at the ceiling and identifying positions and IDs of the landmarks from an image photographed by the camera having a filter, a module calculating position and orientation of the robot using two landmarks of the image in a stop state, a module, when a ceiling to which the landmarks are attached has different heights, a position of the robot, and a module, when a new landmark is attached in the working zone, calculating a position of the new landmark on an absolute coordinate.
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Citations
16 Claims
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1. A localization system of a mobile robot, comprising:
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n number of landmarks attached at a ceiling and having wireless transmitting and receiving functions, a camera photographing the n number of landmarks; a landmark detection part which flashes the landmarks attached at the ceiling and obtains positions and IDs of the landmarks from an image photographed by the camera to detect at least two landmarks; a robot position detection part calculating the position of the mobile robot using the detected landmarks; a landmark position prediction part which, when a new landmark is attached within a working zone, calculates a position of the new landmark on an absolute coordinate; a topology map building part which builds a topology map of the mobile robot using the calculated position of the new landmark; and a robot controller controlling a navigation of the mobile robot using the built topology map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A localization method of a mobile robot using a camera and a landmark, the localization method comprising the steps of
(a) detecting the landmark from an image of the landmark photographed by the camera to calculate a position of a mobile robot; -
(b) when a new landmark is added to a working zone, obtaining a position of the added landmark using the calculated position of the mobile robot; (c) setting the added landmark as a node to build a topology map; and (d) controlling a navigation of the mobile robot using the built topology map and the calculated position of the mobile robot. - View Dependent Claims (13, 14, 15, 16)
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Specification