MOBILE ROBOT AND CONTROLLING METHOD OF THE SAME
First Claim
1. A method for controlling a mobile robot, the method comprising:
- obtaining image information captured on a movement region at predetermined time intervals while moving the mobile robot such that a movement path forms a closed curved line; and
extracting feature points from the obtained image information, and making a map of the movement region based on the extracted feature points.
1 Assignment
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Accused Products
Abstract
Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.
64 Citations
20 Claims
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1. A method for controlling a mobile robot, the method comprising:
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obtaining image information captured on a movement region at predetermined time intervals while moving the mobile robot such that a movement path forms a closed curved line; and extracting feature points from the obtained image information, and making a map of the movement region based on the extracted feature points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for controlling a mobile robot, the method comprising:
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obtaining image information of a cleaning region at predetermined time intervals while performing a cleaning process along a pre-made map; and extracting feature points from the obtained image information, and matching the extracted feature points with feature points included in the map; and compensating for a position of the mobile robot based on a matching result between the feature points. - View Dependent Claims (11, 12, 13)
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14. A mobile robot, comprising:
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a detection unit configured to obtain image information on a movement region at predetermined time intervals while moving such that a movement path forms a closed curved line; and a control unit configured to extract feature points from the obtained image information, and to make a map of the movement region based on the extracted feature points. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification