Apparatus and method for generating three-dimensional map using structured light
First Claim
1. A three-dimensional map-generating apparatus, comprising:
- an odometer detecting a pose of a mobile robot;
a distance-measuring sensor, including a light source module to emit light upward relative to a movement direction of the mobile robot and a camera module to capture an image formed by the light as reflected from an obstacle, measuring a distance to the obstacle for the mobile robot using the captured image; and
a map-generating unit generating a three-dimensional map using the distance measured by the distance-measuring sensor while changing the pose of the mobile robot.
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Abstract
A three-dimensional map-generating apparatus and method using structured light. The apparatus for generating a three-dimensional map using structured light includes an odometer detecting the pose of a mobile robot, and a distance-measuring sensor including a light source module that emits light upward and a camera module that captures an image formed by light reflected from an obstacle, and measuring a distance to the obstacle using the captured image. The apparatus measures a distance to the obstacle using the distance-measuring sensor while changing the relative pose of the mobile robot, thereby generating a three-dimensional map.
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Citations
16 Claims
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1. A three-dimensional map-generating apparatus, comprising:
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an odometer detecting a pose of a mobile robot; a distance-measuring sensor, including a light source module to emit light upward relative to a movement direction of the mobile robot and a camera module to capture an image formed by the light as reflected from an obstacle, measuring a distance to the obstacle for the mobile robot using the captured image; and a map-generating unit generating a three-dimensional map using the distance measured by the distance-measuring sensor while changing the pose of the mobile robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A three-dimensional map-generating method, comprising:
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detecting a pose of a mobile robot; measuring a distance to an obstacle for the mobile robot using a distance-measuring sensor that includes a light source module emitting light upward relative to a movement direction of the mobile robot and a camera module capturing an image formed by the light as reflected from the obstacle, and measuring the distance to the obstacle using the captured image; and generating a three-dimensional map by measuring the distance while changing the pose of the mobile robot. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification