ROBOT CLEANER AND CONTROL METHOD THEREOF
First Claim
1. A control method for a robot cleaner, comprising:
- acquiring a plurality of images of surroundings during travel of the robot cleaner in a cleaning area, by an image acquisition unit;
estimating a plurality of room-specific feature distributions according to a rule defined for each of a plurality of rooms, based on the images acquired while acquiring the plurality of images, by a feature distribution learning module;
acquiring an image of surroundings at a current position of the robot cleaner, by the image acquisition unit;
obtaining a comparison reference group comprising a plurality of room feature distributions by applying the rule for each of the plurality of rooms to the image acquired while acquiring the image at the current position, by a position recognition module;
comparing the obtained comparison reference group with the estimated room-specific feature distributions, by the position recognition module; and
determining a room from the plurality of rooms having the robot cleaner currently located therein, by the position recognition module.
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Abstract
A control method for a robot cleaner includes acquiring a plurality of images of surroundings during travel of the robot cleaner in a cleaning area, estimating a plurality of room-specific feature distributions according to a rule defined for each of a plurality of rooms, based on the images acquired while acquiring the plurality of images, acquiring an image of surroundings at a current position of the robot cleaner, obtaining a comparison reference group including a plurality of room feature distributions by applying the rule for each of the plurality of rooms to the image acquired while acquiring the image at the current position, comparing the obtained comparison reference group with the estimated room-specific feature distributions, and determining a room from the plurality of rooms having the robot cleaner currently located therein.
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Citations
18 Claims
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1. A control method for a robot cleaner, comprising:
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acquiring a plurality of images of surroundings during travel of the robot cleaner in a cleaning area, by an image acquisition unit; estimating a plurality of room-specific feature distributions according to a rule defined for each of a plurality of rooms, based on the images acquired while acquiring the plurality of images, by a feature distribution learning module; acquiring an image of surroundings at a current position of the robot cleaner, by the image acquisition unit; obtaining a comparison reference group comprising a plurality of room feature distributions by applying the rule for each of the plurality of rooms to the image acquired while acquiring the image at the current position, by a position recognition module; comparing the obtained comparison reference group with the estimated room-specific feature distributions, by the position recognition module; and determining a room from the plurality of rooms having the robot cleaner currently located therein, by the position recognition module. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A robot cleaner, comprising:
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an image acquisition unit to acquire a plurality of images of surroundings of the robot cleaner; a feature distribution learning module to estimate a plurality of room-specific feature distributions according to a rule defined for each of a plurality of rooms, based on the images acquired through the image acquisition unit; and a position recognition module to obtain a comparison reference group comprising a plurality of room feature distributions by applying the rule for each of the rooms to an image acquired at a current position of the robot cleaner through the image acquisition unit and to compare the comparison reference group with the room-specific feature distributions estimated through the feature distribution learning module and determine a room from the plurality of rooms having the robot cleaner currently located therein. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A control method for a robot cleaner, comprising:
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acquiring a plurality of images of surroundings by moving the robot cleaner in a cleaning area, by an image acquisition unit; detecting a plurality of room features in a plurality of images acquired for each of a plurality of rooms, creating a plurality of labels for the room features, scoring each of the labels, and estimating and storing a label-specific score distribution for each of the rooms, according to a rule defined for each of the rooms, by a feature distribution leaning module; and acquiring an image of surroundings after the label-specific score distributions are stored, by an image acquisition unit; creating a plurality of labels for a plurality of room features for the image according to the rule for each of the rooms, by the feature distribution leaning module; obtaining a comparison reference group comprising a plurality of label-specific score distributions according to the rule defined for each of the rooms, by the feature distribution leaning module; and determining a room having the robot cleaner currently located therein based on the comparison reference group and the label-specific score distribution estimated for each of the rooms, by the feature distribution leaning module.
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Specification