Data matching apparatus, data matching method and mobile robot

• US 20100262290A1
• Filed: 11/06/2009
• Published: 10/14/2010
• Est. Priority Date: 01/07/2009
• Status: Abandoned Application

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Kim, Dong-jo, Park, Dong-ryeol, Kim, Yeon-ho
• Application Number:
  US12/591,092
• Publication Number:
  US 20100262290A1
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/20021 Dividing image into blocks, subimages or windows
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/344 involving models

Abstract

A three-dimensional data matching system is disclosed. Data matching is performed by merging distance information and image information. Therefore, matching accuracy is improved even if a sensor with relatively low sensitivity is used. Matching data generated as a result of matching range data and CAD data is projected onto an image captured by a camera, an effective edge is extracted from the image, and an error of the matching data is corrected based on the effective edge, thereby improving matching accuracy.

Claims

1. A data matching apparatus, comprising:

a camera which acquires image information; and

a data processing unit which matches range data acquired by a distance sensor and stored CAD data and corrects for a matching error using the image information.

2. The data matching apparatus of claim 1, wherein the data processing unit comprises:

a matching unit which matches the range data and the CAD data to generate matching data;

an edge extracting unit which extracts an effective edge corresponding to a portion in which the range data and the CAD data are not matched together from the image information; and

an error correcting unit which corrects the matching data to reduce or remove the matching error using the effective edge of the image information.

3. The data matching apparatus of claim 2, wherein the matching data comprises at least one of a feature line of CAD data and a feature line of the range data.

4. The data matching apparatus of claim 2, wherein the error correcting unit maps the effective edge and the matching data in a same coordinate system and corrects the matching data so that the corrected matching data is identical to the effective edge.

5. The data matching apparatus of claim 2, wherein the data processing unit further includes a projecting unit which projects the matching data onto the image information.

6. The data matching apparatus of claim 2, wherein the data processing unit further includes a threshold value computing unit which computes a threshold value, with regard to determination of the matching error, for extracting the effective edge.

7. The data matching apparatus of claim 6, wherein the threshold value computing unit computes the threshold value based on a brightness of the image information.

8. A mobile robot, comprising:

a camera which acquires image information;

a data processing unit which matches range data acquired by a distance sensor and stored CAD data and corrects for a matching error using the image information; and

a robot controller which controls the mobile robot based on a result of the matching and correcting for the matching error.

9. The mobile robot of claim 8, further comprising, a welding unit which receives the work instruction of the robot controller, based on the matching data, and is configurable to weld an object based on the work instruction.

10. The mobile robot of claim 9, wherein the camera is mounted onto the welding unit to photograph the object, and the CAD data includes three-dimensional data for the object.

11. A data matching method, comprising:

acquiring image information;

matching range data acquired by a distance sensor and stored CAD data to generate matching data;

extracting an effective edge corresponding to a portion of the image information in which the range data and the CAD data are not matched together for correcting for a matching error; and

correcting the matching data to reduce or remove the matching error using the effective edge of the image information.

12. The data matching method of claim 11, wherein the matching data includes a feature line of CAD data corresponding to the portion of the image information which does not match with the range data.

13. The data matching method of claim 11, wherein the correcting of the matching data comprises mapping the effective edge and the matching data in a same coordinate system and correcting the matching data so that the corrected matching data is identical to the effective edge.

14. The data matching method of claim 11, further comprising projecting the matching data onto the image information.

15. The data matching method of claim 11, further comprising computing a threshold value, with regard to determination of the matching error, for computing the effective edge.

16. The data matching method of claim 15, wherein the threshold value is computed based on a brightness of the image information.