METHOD OF AND APPARATUS FOR CREATING MAP OF ARTIFICIAL MARKS, AND METHOD AND APPARATUS FOR MEASURING POSITION OF MOVING OBJECT USING THE MAP
First Claim
1. A method of creating a map of artificial marks installed in an indoor space, the method comprising:
- acquiring a position in which a moving object is moved in the indoor space;
detecting each of the artificial marks to obtain an image of the detected artificial mark;
calculating a relative position of the detected artificial mark using the position of the moving object and the image of the detected artificial mark;
calculating a position of the detected artificial mark in a global coordinate system using the calculated relative position; and
storing the calculated position in the global coordinate system and an ID of the detected artificial mark in a map database to create the map of the artificial marks.
1 Assignment
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Accused Products
Abstract
A method of creating a map of artificial marks includes acquiring a position in which a moving object is moved, detecting each of the artificial marks to obtain an image thereof, calculating a relative position of the detected artificial mark, calculating a position of the detected artificial mark in a global coordinate system using the relative position, and storing the calculated position and an ID of the detected artificial mark in a map database to create the map of the artificial marks. Further, a method of measuring a position of a moving object includes detecting an artificial mark within a search range calculating a relative position of the detected artificial mark, and calculating a position of the moving object using the calculated relative position and a position in a global coordinate system corresponding to the relative position of the detected artificial mark from the map database.
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Citations
20 Claims
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1. A method of creating a map of artificial marks installed in an indoor space, the method comprising:
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acquiring a position in which a moving object is moved in the indoor space; detecting each of the artificial marks to obtain an image of the detected artificial mark; calculating a relative position of the detected artificial mark using the position of the moving object and the image of the detected artificial mark; calculating a position of the detected artificial mark in a global coordinate system using the calculated relative position; and storing the calculated position in the global coordinate system and an ID of the detected artificial mark in a map database to create the map of the artificial marks. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus for creating a map of artificial marks installed in an indoor space, the apparatus comprising:
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a moving object travelling in the indoor space using a wheel, the moving object including an artificial mark detector mounted to the moving object for detecting each of the artificial marks to obtain an image of the detected artificial mark; a relative position calculation unit for calculating a relative position of the detected artificial mark using a position in which the moving object is moved and the image of the detected artificial mark; and a map creation device for calculating a position of the detected artificial mark in a global coordinate system using the calculated relative position; and a map database storing the calculated position of the detected artificial mark in a global coordinate system. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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17. A method of measuring a position of a moving object, the method comprising:
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acquiring a position in which the moving object is moved in an indoor space; detecting each of artificial marks installed in the indoor space to obtain an image of the detected artificial mark; calculating a relative position of the detected artificial mark using the image of the detected artificial mark and the position of the moving object; obtaining a position in a global coordinate system corresponding to the relative position of the detected artificial mark; and measuring a position of the moving object using the relative position and the position in the global coordinate system of the detected artificial mark. - View Dependent Claims (18)
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19. An apparatus for measuring a position of a moving object, the apparatus comprising:
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a map database storing positions of the artificial marks in a global coordinate system, wherein each of the artificial marks has an ID assigned thereto to distinguish one another; an artificial mark detector mounted to the moving object for detecting each of the artificial marks within a search range to acquire an image of the detected artificial mark; a relative position calculation unit for calculating a relative position of the detected artificial mark by analyzing the acquired image; and a position measuring unit for measuring a position of the moving object using the relative position and a position in a global coordinate system corresponding to the relative position of the detected artificial mark, which is obtained from the map database. - View Dependent Claims (20)
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Specification