Apparatus and method of localization of mobile robot
First Claim
Patent Images
1. A localization device of a mobile robot, comprising:
- a storage unit to store characteristic information of a reference object;
a registration unit to match characteristic information obtained at an initial location of the mobile robot with the stored characteristic information of the reference object to derive reference characteristic information, and register the reference characteristic information; and
a location estimation unit to estimate a location of the robot using the reference characteristic information.
1 Assignment
0 Petitions
Accused Products
Abstract
A localization method and localization device of a mobile robot is provided. In one aspect, characteristic information of a reference object is stored in advance to be used as a landmark for localization, and reference characteristic information is defined by utilizing the stored characteristic information and characteristic information obtained at an initial location of the mobile robot. Therefore, the accuracy of localization can be increased without the use of additional artificial landmarks.
-
Citations
15 Claims
-
1. A localization device of a mobile robot, comprising:
-
a storage unit to store characteristic information of a reference object; a registration unit to match characteristic information obtained at an initial location of the mobile robot with the stored characteristic information of the reference object to derive reference characteristic information, and register the reference characteristic information; and a location estimation unit to estimate a location of the robot using the reference characteristic information. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A localization device of a mobile robot, comprising:
-
a storage unit to store characteristic information, regarding a charging station for recharging the mobile robot, before an estimating of a location of the mobile robot; a registration unit to match characteristic information of the charging station and surroundings of the charging station, obtained at an initial location of the mobile robot immediately after a departure from the charging station, with the characteristic information stored in the storage unit to derive reference characteristic information, and register the reference characteristic information; a location estimation unit to estimate the location of the mobile robot using the reference characteristic information; and a relocation unit to control the mobile robot to move toward a vicinity of the charging station when a robot movement slip is determined to occur while the mobile robot is moving.
-
-
9. A localization method of a mobile robot, comprising:
-
storing characteristic information of a reference object; obtaining characteristic information of surroundings of the mobile robot at an initial location of the mobile robot; matching the obtained characteristic information of the surroundings with the stored characteristic information of the reference object to derive reference characteristic information, and registering the reference characteristic information; and estimating a location of the mobile robot using the reference characteristic information. - View Dependent Claims (10, 11, 12, 13, 14, 15)
-
Specification