Method of measuring pose of mobile robot and method and apparatus for measuring position of mobile robot using the same
First Claim
1. An apparatus for measuring the pose of a mobile robot, comprising:
- an accelerometer measuring acceleration of the mobile robot in a forward direction;
a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section; and
a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity, whereinthe accelerometer is mounted to a front end of the mobile robot; and
the pose-calculating unit calculates the pitch in the acceleration and deceleration sections from d/L,where d is a lifting distance of the mobile robot, and L is the distance from a center of the mobile robot to the accelerometer.
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Abstract
A method of measuring pose of mobile robot, and method and apparatus for measuring for measuring position of mobile robot using the same are provided. The apparatus for measuring the pose of a mobile robot includes an accelerometer measuring acceleration of the mobile robot in a forward direction, a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section, and a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity.
36 Citations
20 Claims
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1. An apparatus for measuring the pose of a mobile robot, comprising:
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an accelerometer measuring acceleration of the mobile robot in a forward direction; a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section; and a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity, wherein the accelerometer is mounted to a front end of the mobile robot; and the pose-calculating unit calculates the pitch in the acceleration and deceleration sections from d/L, where d is a lifting distance of the mobile robot, and L is the distance from a center of the mobile robot to the accelerometer. - View Dependent Claims (2, 3, 4, 5)
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6. An apparatus for measuring the position of a mobile robot, comprising:
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an accelerometer measuring the acceleration of the mobile robot in a forward direction; a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section; a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity; a camera disposed on an upper surface of the mobile robot to capture a ceiling image; a feature-point-extracting unit extracting feature points from the captured ceiling image; a feature-point-compensating unit compensating for the coordinates of the extracted feature point using the calculated pitch and roll; and a position-calculating unit calculating the displacement of the mobile robot on the basis of the feature point whose coordinates are compensated. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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13. A method of measuring the pose of a mobile robot, comprising:
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measuring acceleration of the mobile robot in a forward direction using an accelerometer; determining, by at least one processor, whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section; and calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity, wherein the accelerometer is mounted to a front end of the mobile robot; and the calculating includes calculating the pitch in the acceleration and deceleration sections from d/L, where d is a lifting distance of the mobile robot, and L is the distance from a center of the mobile robot to the accelerometer. - View Dependent Claims (14, 15, 16)
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17. A method of measuring the position of a mobile robot, comprising:
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measuring acceleration of the mobile robot in a forward direction using an accelerometer; determining, by at least one processor, whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section; calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity; capturing a ceiling image; extracting feature points from the captured ceiling image; compensating for the coordinates of the extracted feature point using the calculated pitch and roll; and calculating the displacement of the mobile robot on the basis of the feature point whose coordinates have been compensated. - View Dependent Claims (18, 19, 20)
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Specification