Apparatus, method, and medium for dividing regions by using feature points and mobile robot using the same
First Claim
1. A method for dividing regions by using feature points, the method comprising:
- forming a grid map by using a plurality of grid points that are obtained by detecting obstacles;
extracting feature points from the grid map;
extracting pairs of final feature points, which satisfy requirements of a region division element, from the feature points;
forming a critical line by connecting the pairs of final feature points to each other; and
forming a final region in accordance with the size relationship between regions having a closed curve formed by connecting the critical line and the grid map, wherein the forming of the final region comprises separating a smaller region from a larger region when the smaller region formed of the closed curve is included in the larger region formed of the closed curve and the area difference between the smaller region and the larger region exceeds a predetermined range.
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Abstract
An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pair of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map.
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Citations
53 Claims
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1. A method for dividing regions by using feature points, the method comprising:
- forming a grid map by using a plurality of grid points that are obtained by detecting obstacles;
extracting feature points from the grid map;
extracting pairs of final feature points, which satisfy requirements of a region division element, from the feature points;
forming a critical line by connecting the pairs of final feature points to each other; and
forming a final region in accordance with the size relationship between regions having a closed curve formed by connecting the critical line and the grid map, wherein the forming of the final region comprises separating a smaller region from a larger region when the smaller region formed of the closed curve is included in the larger region formed of the closed curve and the area difference between the smaller region and the larger region exceeds a predetermined range. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
- forming a grid map by using a plurality of grid points that are obtained by detecting obstacles;
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24. An apparatus for dividing regions by using feature points, the apparatus comprising:
- a grid map forming unit to form a grid map by using a plurality of grid points that are obtained by detecting obstacles;
a feature point extracting unit to extract feature points from the grid map;
pairs of final feature points extracting unit to extract pairs of final feature points, which satisfy the requirements of a region division element, from the feature points;
a critical line forming unit to form a critical line by connecting the pairs of final feature points; and
a region forming unit to form a final region in accordance with the size relationship between the regions formed of a closed curve which connects the critical line and the grid map, wherein the region forming unit separates a smaller region from a larger region when the smaller region formed of the closed curve is included in the larger region formed of the closed curve and the area difference between the smaller region and the larger region exceeds a predetermined range. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47)
- a grid map forming unit to form a grid map by using a plurality of grid points that are obtained by detecting obstacles;
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48. A mobile robot having an apparatus for dividing regions by using feature points, the apparatus comprising:
- a grid map forming unit to form a grid map by using a plurality of grid points that are obtained by detecting obstacles;
a feature point extracting unit to extract feature points from the grid map;
pairs of final feature points extracting unit to extract pairs of final feature points, which satisfy the requirements of a region division element, from the feature points;
a critical line forming unit to form a critical line by connecting the pairs of final feature points;a region forming unit to form a final region in accordance with the size relationship between the regions formed of a closed curve which connects the critical line and the grid map, wherein the region forming unit separates a smaller region from a larger region when the smaller region formed of the closed curve is included in the larger region formed of the closed curve and the area difference between the smaller region and the larger region exceeds a predetermined range. - View Dependent Claims (49, 50, 51, 52, 53)
- a grid map forming unit to form a grid map by using a plurality of grid points that are obtained by detecting obstacles;
Specification