MOVING ROBOT AND METHOD TO BUILD MAP FOR THE SAME
First Claim
1. A method to build a map for a moving robot, the method comprising:
- acquiring 3D distance information of an object present in a path along which the moving robot moves;
accumulating the acquired 3D distance information to construct maps of a specific size level and storing the maps in a database; and
hierarchically matching, by a computer, the maps stored in the database to build a 3D map for a set space.
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Abstract
A moving robot and a method to build a map for the same, wherein a 3D map for an ambient environment of the moving robot may be built using a Time of Flight (TOF) camera that may acquire 3D distance information in real time. The method acquires 3D distance information of an object present in a path along which the moving robot moves, accumulates the acquired 3D distance information to construct a map of a specific level and stores the map in a database, and then hierarchically matches maps stored in the database to build a 3D map for a set space. This method may quickly and accurately build a 3D map for an ambient environment of the moving robot.
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Citations
15 Claims
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1. A method to build a map for a moving robot, the method comprising:
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acquiring 3D distance information of an object present in a path along which the moving robot moves; accumulating the acquired 3D distance information to construct maps of a specific size level and storing the maps in a database; and hierarchically matching, by a computer, the maps stored in the database to build a 3D map for a set space. - View Dependent Claims (2, 3, 4, 5)
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6. A method to build a map for a moving robot, the method comprising:
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localizing the moving robot; acquiring 3D distance information of an object present in a path along which the moving robot moves; accumulating the acquired 3D distance information to construct maps of a specific level and storing the maps, together with a result of the localization of the moving robot, in a database; determining whether or not two maps of equal size level are present in the database; and upon determining that two maps of equal level are present in the database, executing, by a computer, an Iterative Closest Point (ICP) algorithm on said two maps, calculating, by a computer, new rigid body transformation information by combining a result of the localization of the moving robot and a result of the execution of the ICP algorithm, and matching, by a computer, said two maps using the calculated new rigid body transformation information to build a new map of an increased level to build a 3D map for a set space. - View Dependent Claims (7, 8, 9, 10)
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11. A moving robot comprising:
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a 3D distance information acquirer to acquire 3D distance information of an object present in a path along which the moving robot moves; and a controller to accumulate the acquired 3D distance information to construct maps of a specific size level and to store the maps in a database and then to hierarchically match the maps stored in the database to build a 3D map for a set space. - View Dependent Claims (12, 13, 14, 15)
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Specification