Robot and method of building map therefor
First Claim
1. A method of building a map for a robot comprising:
- sequentially acquiring first and second surface data of a route on which the robot moves;
matching the first and second surface data with each other to calculate a difference between the first and second surface data;
detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data;
generating third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and
matching the third surface data and any one of the first and second surface data with each other to build the map.
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Abstract
Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.
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Citations
19 Claims
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1. A method of building a map for a robot comprising:
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sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A robot, comprising:
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a surface data acquiring unit sequentially acquiring first and second surface data of a route on which the robot moves; and a control unit matching the first and second surface data with each other to detect a dynamic obstacle from the first and second surface data, generating third surface data by removing the dynamic obstacle from at least one of the first and second surface data, and matching the third surface data and any one of the first and second surface data with each other. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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Specification