CONTROL METHOD FOR LOCALIZATION AND NAVIGATION OF MOBILE ROBOT AND MOBILE ROBOT USING THE SAME
First Claim
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1. A mobile robot, comprising:
- an image obtaining unit configured to obtain an image;
a sensor unit configured to obtain driving information including at least a driving direction and a driving distance of the mobile robot;
an image processing unit configured to process the image obtained by the image obtaining unit to extract a feature point and generate a descriptor for the feature point; and
a main controller configured to generate a spatial map in a driving range based on the feature point and the driving information and control localization and navigation of the mobile robot,wherein when the localization and the navigation of the mobile robot are performed, depending on the matching degree of the obtained image and a reference image, the main controller selectively applies a first driving mode that simultaneously uses the image and the sensing information and a second driving mode that uses only the image information.
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Abstract
The present invention relates to a control method for the localization and navigation of a mobile robot and a mobile robot using the same. More specifically, the localization and navigation of a mobile robot are controlled using inertial sensors and images, wherein local direction descriptors are employed, the mobile robot is changed in the driving mode thereof according to the conditions of the mobile robot, and errors in localization may be minimized.
70 Citations
21 Claims
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1. A mobile robot, comprising:
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an image obtaining unit configured to obtain an image; a sensor unit configured to obtain driving information including at least a driving direction and a driving distance of the mobile robot; an image processing unit configured to process the image obtained by the image obtaining unit to extract a feature point and generate a descriptor for the feature point; and a main controller configured to generate a spatial map in a driving range based on the feature point and the driving information and control localization and navigation of the mobile robot, wherein when the localization and the navigation of the mobile robot are performed, depending on the matching degree of the obtained image and a reference image, the main controller selectively applies a first driving mode that simultaneously uses the image and the sensing information and a second driving mode that uses only the image information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A control method of localization and navigation of a mobile robot, comprising:
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(a) allowing the mobile robot to obtain image information and driving information of a target region; (b) determining whether the obtained image is available by comparing a quality of the obtained image information with a reference value; and (c) if it is determined that the image is available, extracting a feature point from the obtained image information and generating a descriptor of the extracted feature point to create a driving map and drive in the target region; wherein when the localization and the navigation of the mobile robot are performed, depending on the matching degree of the obtained image and a reference image, the driving in the target region includes;
selecting any one of a first driving mode that simultaneously uses the image and the sensing information and a second driving mode that uses only the image information. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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21-24. -24. (canceled)
Specification