MAP GENERATING AND UPDATING METHOD FOR MOBILE ROBOT POSITION RECOGNITION
First Claim
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1. A method for building a map for mobile robot localization, comprising:
- detecting and temporarily registering a landmark from a first image acquired at a first location by the mobile robot;
extracting the corresponding landmark from a second image acquired at a second location by the mobile robot;
estimating the temporarily registered landmark from the second image based on moving information and the temporarily registered landmark information; and
mainly registering the temporarily registered landmark if it is determined that a matching error is in a range of a predetermined reference error by calculating the matching error between the temporarily registered landmark and the estimated landmark.
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Abstract
The present invention relates to a map generating and updating method for mobile robot position recognition, and more specifically relates to a map generating and updating method for mobile robot position recognition, whereby position recognition error can be minimised by registering landmarks extracted during map generation and landmarks extracted on the basis of the probable error in inferred landmarks, calculating the accuracy of landmarks pre-registered during map generation, and adjusting the level of landmarks of low accuracy or removing landmarks which have been registered erroneously.
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20 Claims
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1. A method for building a map for mobile robot localization, comprising:
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detecting and temporarily registering a landmark from a first image acquired at a first location by the mobile robot; extracting the corresponding landmark from a second image acquired at a second location by the mobile robot; estimating the temporarily registered landmark from the second image based on moving information and the temporarily registered landmark information; and mainly registering the temporarily registered landmark if it is determined that a matching error is in a range of a predetermined reference error by calculating the matching error between the temporarily registered landmark and the estimated landmark. - View Dependent Claims (2, 3, 4, 5, 6, 7, 20)
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8. A method for updating a map for mobile robot localization, comprising:
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a) extracting and registering a landmark by acquiring a first image at a first location; b) detecting a landmark corresponding to the registered landmark by acquiring a second image at a second location and predicting the registered landmark using location information; c) detecting quality of the registered landmark corresponding to the detected landmark; and d) calculating matching probability between the detected landmark and the predicted landmark using a probability function and differentially updating the registered landmark according to the matching probability and the quality of the registered landmark. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification