ROBOT CLEANER AND CONTROLLING METHOD OF THE SAME
First Claim
1. A robot cleaner, comprising:
- an image detecting unit configured to detect a plurality of images by capturing peripheral circumstances;
a feature point extracting unit configured to extract one or more feature points having 2D coordinates information with respect to each of the plurality of images;
a feature point matching unit configured to match the feature points with each other by comparing the 2D coordinates information of the feature points with each other;
a control unit configured to create a matching point having 3D coordinates information based on a matching result through the feature point matching unit, and configured to recognize a position of the robot cleaner based on the created matching point; and
a storage unit configured to store therein the matching point having 3D coordinates information.
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Accused Products
Abstract
Disclosed are a robot cleaner and a method for controlling the same. The robot cleaner is capable of recognizing a position thereof by extracting one or more feature points having 2D coordinates information with respect to each of a plurality of images, by matching the feature points with each other, and then by creating a matching point having 3D coordinates information. Matching points having 3D coordinates information are created to recognize a position of the robot cleaner, and the recognized position is verified based on a moving distance measured by using a sensor. This may allow a position of the robot cleaner to be precisely recognized, and allow the robot cleaner to perform a cleaning operation or a running operation by interworking the precisely recognized position with a map.
26 Citations
20 Claims
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1. A robot cleaner, comprising:
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an image detecting unit configured to detect a plurality of images by capturing peripheral circumstances; a feature point extracting unit configured to extract one or more feature points having 2D coordinates information with respect to each of the plurality of images; a feature point matching unit configured to match the feature points with each other by comparing the 2D coordinates information of the feature points with each other; a control unit configured to create a matching point having 3D coordinates information based on a matching result through the feature point matching unit, and configured to recognize a position of the robot cleaner based on the created matching point; and a storage unit configured to store therein the matching point having 3D coordinates information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for controlling a robot cleaner, the method comprising:
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an image detecting step of detecting a plurality of images by capturing peripheral circumstances; a feature point extracting step of extracting one or more feature points having 2D coordinates information with respect to each of the plurality of images; a feature point matching step of matching the feature points with each other by comparing the 2D coordinates information of the feature points with each other; a matching point creating step of creating a matching point having 3D coordinates information based on a matching result through a feature point matching unit; and a position recognizing step of recognizing a position of the robot cleaner based on the created matching point. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification