Apparatus, method, and medium for dividing regions by using feature points and mobile robot using the same
First Claim
1. A method for dividing regions by using feature points, the method comprising:
- forming a grid map by using a plurality of grid points that are obtained by detecting distances from obstacles;
extracting feature points from the grid map;
extracting pairs of candidate feature points, included in a range of a region division element, from the feature points;
extracting pairs of final feature points, which satisfy requirements of the region division element, from the pairs of candidate feature points;
forming a critical line by connecting the pairs of final feature points to each other; and
forming a final region in accordance with the size relationship between regions having a closed curve formed by connecting the critical line and the grid map.
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Abstract
An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pairs of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map.
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Citations
49 Claims
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1. A method for dividing regions by using feature points, the method comprising:
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forming a grid map by using a plurality of grid points that are obtained by detecting distances from obstacles; extracting feature points from the grid map; extracting pairs of candidate feature points, included in a range of a region division element, from the feature points; extracting pairs of final feature points, which satisfy requirements of the region division element, from the pairs of candidate feature points; forming a critical line by connecting the pairs of final feature points to each other; and forming a final region in accordance with the size relationship between regions having a closed curve formed by connecting the critical line and the grid map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 34, 35, 36, 37, 38, 39, 49)
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17. An apparatus for dividing regions by using feature points, the apparatus comprising:
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a grid map forming unit to form a grid map by using a plurality of grid points that are obtained by detecting distances from obstacles; a feature point extracting unit to extract feature points from the grid map; pairs of candidate feature points extracting unit to extract a pair of feature points, which are included within a range of a region division element, from the feature points; pairs of final feature points extracting unit to extract pairs of final feature points, which satisfy the requirements of the region division element, from the pairs of candidate feature points; a critical line forming unit to form a critical line by connecting the pairs of final feature points; and a region forming unit to form a final region in accordance with the size relationship between the regions formed of a closed curve which connects the critical line and the grid map. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 40, 41, 42, 43, 44, 45, 46, 47)
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33. A mobile robot having an apparatus for dividing regions by using feature points, the apparatus comprising:
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a grid map forming unit to form a grid map by using a plurality of grid points that are obtained by detecting distances from obstacles; a feature point extracting unit to extract feature points from the grid map; pairs of candidate feature points extracting unit to extract a pair of feature points, which are included within a range of a region division element, from the feature points; pairs of final feature points extracting unit to extract pairs of final feature points, which satisfy the requirements of the region division element, from the pairs of candidate feature points; a critical line forming unit to form a critical line by connecting the pairs of final feature points; a region forming unit to form a final region in accordance with the size relationship between the regions formed of a closed curve which connects the critical line and the grid map; a topological map forming unit to form a topological map on the basis of the final region; and a displaying unit to display the topological map on a display device, wherein when a predetermined region of the topological map, which is recognizably displayed on the display device, is selected, the region is automatically cleaned. - View Dependent Claims (48)
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Specification