System, method, and medium for detecting moving object using structured light, and mobile robot including system thereof
First Claim
1. A system for detecting a moving object, the system comprising:
- an image obtaining unit to obtain a first image of an obstacle at a predetermined position and a second image of the obstacle at a position after a movement of the system by using a light source;
an image predicting unit to predict the second image at the position after the movement of the system by using the first image and information pertaining to the movement of the system; and
a comparing/analyzing unit to compare and analyze the second image obtained by the image obtaining unit and the second image predicted by the image predicting unit to detect the moving object using at least one processor,wherein the image obtaining unit obtains first and second images of the obstacle by receiving the light source, which is generated in a plane and reflected from the obstacle, through a single camera sensor,wherein the image obtaining unit obtains a distance data between the light source and the obstacle at the positions at which the first image and the second image are obtained, andwherein the comparing/analyzing unit compares and analyzes a distance data at the position at which the second image is obtained by the image obtaining unit and a distance data of the predicted second image.
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Abstract
A system, a method, and medium for detecting a moving object using a structured light, and a mobile robot including the system are provided. The system includes an image obtaining unit to obtain a first image at a predetermined position and a second image at a position after a movement of the system by using a light source; an image predicting unit to predict the second image at the position after the movement of the system by using the first image and information with respect to the movement of the system; and a comparing/analyzing unit to compare and analyze the second image obtained by the image obtaining unit and the second image predicted by the image predicting unit.
15 Citations
25 Claims
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1. A system for detecting a moving object, the system comprising:
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an image obtaining unit to obtain a first image of an obstacle at a predetermined position and a second image of the obstacle at a position after a movement of the system by using a light source; an image predicting unit to predict the second image at the position after the movement of the system by using the first image and information pertaining to the movement of the system; and a comparing/analyzing unit to compare and analyze the second image obtained by the image obtaining unit and the second image predicted by the image predicting unit to detect the moving object using at least one processor, wherein the image obtaining unit obtains first and second images of the obstacle by receiving the light source, which is generated in a plane and reflected from the obstacle, through a single camera sensor, wherein the image obtaining unit obtains a distance data between the light source and the obstacle at the positions at which the first image and the second image are obtained, and wherein the comparing/analyzing unit compares and analyzes a distance data at the position at which the second image is obtained by the image obtaining unit and a distance data of the predicted second image. - View Dependent Claims (2, 3, 4, 5, 6, 8)
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7. The system of 6, wherein the distance data calculated from the obtained image is a distance data from the light source to the obstacle calculated by applying a triangular method to a coordinate value of the obtained image.
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9. A method for detecting a moving object, the method comprising:
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obtaining a first image of an obstacle at a predetermined position by using a light source; predicting a second image of the obstacle at a position after the movement of the system by using the first image and information pertaining to the movement of the system; obtaining the second image at the position after the movement of the system; and comparing the predicted second image with the obtained second image to detect the moving object using at least one processor, wherein an image obtaining unit obtains first and second images of the obstacle by receiving the light source, which is generated in a plane and reflected from the obstacle, through a single camera sensor, wherein said obtaining a first image includes obtaining a distance data between the light source and the obstacle at the position at which the first image is obtained and said obtaining the second image includes obtaining a distance data between the light source and the obstacle at the position at which the second image is obtained, and wherein said comparing includes comparing a distance data at the position at which the second image is obtained with a distance data of the predicted second image. - View Dependent Claims (10, 11, 12, 14, 15, 16, 17)
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13. The method of 12, wherein the distance data calculated from the obtained image is a distance data from the light source to the obstacle calculated by applying a triangular method to a coordinate value of the obtained image.
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18. A mobile robot for detecting a moving object, the robot comprising:
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a system to detect a moving object; and a driving system to drive the mobile robot which calculates position and recognizes the moving object, wherein the system to detect the moving object includes; an image obtaining unit to obtain a first image of the object at a predetermined position and a second image of the object at a position after a movement of the system by a light source; an image predicting unit to predict the second image at the position after the movement of the system by using the first image and information pertaining to the movement of the system; and a comparing/analyzing unit to compare and analyze the second image obtained by the image obtaining unit and the second image predicted by the image predicting unit to detect the moving object, wherein the image obtaining unit obtains first and second images of the object by receiving the light source, which is generated in a plane and reflected from the object, through a single camera sensor, wherein the image obtaining unit obtains a distance data between the light source and the object at the positions at which the first image and the second image are obtained, and wherein the comparing / analyzing unit compares and analyzes a distance data at the position at which the second image is obtained by the image obtaining unit and a distance data of the predicted second image. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification