MOBILE ROBOT AND SIMULTANEOUS LOCALIZATION AND MAP BUILDING METHOD THEREOF
First Claim
1. A simultaneous localization and map building method of a mobile robot including an omni-directional camera, comprising:
- acquiring an omni-directional image from the omni-directional camera;
dividing the acquired omni-directional image according to a preset reference to generate a lower image and an upper image;
extracting feature points from the lower image and calculating visual odometry information to track locations of the extracted feature points based on a location of the omni-directional camera; and
performing localization and map building of the mobile robot using the calculated visual odometry information and the upper image as an input of an extended Kalman filter.
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Abstract
A simultaneous localization and map building method of a mobile robot including an omni-directional camera. The method includes acquiring an omni-directional image from the omni-directional camera, dividing the obtained omni-directional image into upper and lower images according to a preset reference to generate a first image, which is the lower image, and a second image, which is the upper image, extracting feature points from the first image and calculating visual odometry information calculating visual odometry information to track locations of the extracted feature points based on a location of the omni-directional camera, and performing localization and map building of the mobile robot using the calculated visual odometry information and the second image as an input of an extended Kalman filter.
29 Citations
14 Claims
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1. A simultaneous localization and map building method of a mobile robot including an omni-directional camera, comprising:
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acquiring an omni-directional image from the omni-directional camera; dividing the acquired omni-directional image according to a preset reference to generate a lower image and an upper image; extracting feature points from the lower image and calculating visual odometry information to track locations of the extracted feature points based on a location of the omni-directional camera; and performing localization and map building of the mobile robot using the calculated visual odometry information and the upper image as an input of an extended Kalman filter. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A mobile robot including an omni-directional camera, comprising:
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an image processor to divide an omni-directional image captured through the omni-directional camera according to a preset reference to generate a lower image and an upper image; a visual odometry information calculator to extract feature points from the lower image and track locations of the extracted feature points based on the omni-directional camera; and a simultaneous location and map building (SLAM) executor to perform localization and map building of the mobile robot using visual odometry information calculated by the visual odometry information calculator and the upper image as an input of an extended Kalman filter. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A method comprising:
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dividing, by a computer, an omni-directional image acquired from an omni-directional camera of a mobile robot according to a preset reference to generate a lower image and an upper image; calculating, by a computer and based on a location of the omni-directional camera, visual odometry information to track locations of feature points extracted from the lower image; and performing, by a computer, localization and map building of the mobile robot via an extended Kalman filter using the calculated visual odometry information and the upper image.
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Specification