Method and apparatus for simultaneous localization and mapping of robot
First Claim
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1. A simultaneous localization and mapping (SLAM) apparatus of a robot, comprising:
- a converter to convert a two-dimensional (2D) position of measured feature data to a three-dimensional (3D) position; and
an updater to update registered feature data by comparing the converted 3D position of the measured feature data with a 3D position of the registered feature data.
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Abstract
A SLAM of a robot is provided. The position of a robot and the position of feature data may be estimated by acquiring an image of the robot'"'"'s surroundings, extracting feature data from the image, and matching the extracted feature data with registered feature data. Furthermore, measurement update is performed in a camera coordinate system and an appropriate assumption is added upon coordinate conversion, thereby reducing non-linear components and thus improving the SLAM performance.
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Citations
14 Claims
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1. A simultaneous localization and mapping (SLAM) apparatus of a robot, comprising:
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a converter to convert a two-dimensional (2D) position of measured feature data to a three-dimensional (3D) position; and an updater to update registered feature data by comparing the converted 3D position of the measured feature data with a 3D position of the registered feature data. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A SLAM method of a robot, comprising:
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converting a two-dimensional (2D) position of measured feature data to a three-dimensional (3D) position; and updating registered feature data by comparing the converted 3D position of the measured feature data with a 3D position of the registered feature data. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification