System and method for extracting corner point in space using pixel information, and robot using the system
First Claim
1. A corner point extracting system comprising:
- a light generator emitting light in a predetermined form;
an image acquisition device acquiring an image of a reflector reflecting the light emitted from the light generator; and
a control module obtaining pixel information of the acquired image and obtaining distance data between the light generator and the reflector using the pixel information of the acquired image and a geometrical relationship among the light generator, the reflector and the image acquisition device and obtaining a corner point by performing split-merge using a threshold proportional to the distance data, the distance data representing coordinate values of points on a plane obtained when the light generator and the reflector are viewed from above, the points being converted from pixels in the acquired image,wherein the threshold is a value proportional to the distance data which corresponds to the pixel information obtained from the image acquisition device,wherein split-merge is performed by connecting a line between two end points of the distance data, measuring distances between the line and each of the distance data points, performing a split of the line if the measured distance exceeds a predetermined threshold to create additional lines, continuously performing the splitting of the line to produce continuous lines until no measured distance exceeds the predetermined threshold and thereafter creating a common line to the continuous lines to merge the continuous lines.
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Abstract
A system and method for extracting a corner point in a space using pixel information obtained from a camera are provided. The corner point extracting system includes a light generation module emitting light in a predetermined form (such as a plane form), an image acquisition module acquiring an image of a reflector reflecting the light emitted from the light generation module, and a control module obtaining distance data between the light generation module and the reflector using the acquired image and extracting a corner point by performing split-merge using a threshold proportional to the distance data. The threshold is a value proportional to the distance data which corresponds to pixel information of the image acquisition module.
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Citations
19 Claims
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1. A corner point extracting system comprising:
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a light generator emitting light in a predetermined form; an image acquisition device acquiring an image of a reflector reflecting the light emitted from the light generator; and a control module obtaining pixel information of the acquired image and obtaining distance data between the light generator and the reflector using the pixel information of the acquired image and a geometrical relationship among the light generator, the reflector and the image acquisition device and obtaining a corner point by performing split-merge using a threshold proportional to the distance data, the distance data representing coordinate values of points on a plane obtained when the light generator and the reflector are viewed from above, the points being converted from pixels in the acquired image, wherein the threshold is a value proportional to the distance data which corresponds to the pixel information obtained from the image acquisition device, wherein split-merge is performed by connecting a line between two end points of the distance data, measuring distances between the line and each of the distance data points, performing a split of the line if the measured distance exceeds a predetermined threshold to create additional lines, continuously performing the splitting of the line to produce continuous lines until no measured distance exceeds the predetermined threshold and thereafter creating a common line to the continuous lines to merge the continuous lines. - View Dependent Claims (2, 3, 4, 5, 17)
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6. A method of extracting a corner point, comprising:
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emitting light to a reflector in a predetermined form from a light generator; acquiring an image of the reflector reflecting the light from an image acquiring device and obtaining pixel information of the acquired image; obtaining distance data between a light emission point and the reflector using the pixel information of the acquired image and a geometrical relationship among the light generator, the reflector and the image acquiring device, the distance data representing coordinate values of points on a plane obtained when the light generator and the reflector are viewed from above, the points being converted from pixels in the acquired image; and obtaining a corner point by performing split-merge based on a threshold proportional to the distance data, wherein the threshold is a value proportional to the distance data which corresponds to the pixel information of the acquired image, wherein split-merge is performed by connecting a line between two end points of the distance data, measuring distances between the line and each of the distance data points, performing a split of the line if the measured distance exceeds a predetermined threshold to create additional lines, continuously performing the splitting of the line to produce continuous lines until no measured distance exceeds the predetermined threshold and thereafter creating a common line to the continuous lines to merge the continuous lines. - View Dependent Claims (7, 8, 9, 10, 18)
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11. A mobile robot, comprising:
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a corner point obtaining system acquiring an image of a reflector which reflects light emitted thereto in a predetermined form and obtaining a corner point using pixel information of the acquired image, the corner point being obtained by performing split-merge based on a threshold proportional to distance data that corresponds to the pixel information of the acquired image, the distance data being obtained between a light emission point and the reflector using the pixel information of the acquired image and a geometrical relationship among a light generation module, the reflector and an image acquisition module and representing coordinate values of points on a plane obtained when the light generator and the reflector are viewed from above, the points being converted from pixels in the acquired image; a central control system determining a moving direction and speed of the mobile robot based on a position of the extracted corner point; and a driving system moving the mobile robot according to the moving direction and speed determined by the central control system, wherein split-merge is performed by connecting a line between two end points of the distance data, measuring distances between the line and each of the distance data points, performing a split of the line if the measured distance exceeds a predetermined threshold to create additional lines, continuously performing the splitting of the line to produce continuous lines until no measured distance exceeds the predetermined threshold and thereafter creating a common line to the continuous lines to merge the continuous lines. - View Dependent Claims (12, 13, 14, 15, 16, 19)
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Specification