Apparatus and method for extracting feature information of object and apparatus and method for creating feature map
First Claim
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1. An apparatus for extracting feature information of environmental objects, comprising:
- a sensor to detect light reflected from the environmental objects to acquire distance information and remission information regarding the environmental objects;
a corner detector to detect corner information regarding the environmental objects using the remission information;
a plane detector to detect planar patch information using the corner information and distance information of surroundings corresponding to a corner; and
a reflection function detector to detect a reflection function of the planar patch using the remission information depending on angle of light incident on the planar patch.
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Abstract
Technology for creating a feature map for localizing a mobile robot and extracting feature information of surroundings is provided. According to one aspect, feature information including a reflection function is extracted from information acquired using a 3D distance sensor and used as a basis for creating a feature map. Thus, a feature map that is less sensitive to change in the surrounding environment can be created, and a success rate of feature matching can be increased.
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Citations
19 Claims
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1. An apparatus for extracting feature information of environmental objects, comprising:
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a sensor to detect light reflected from the environmental objects to acquire distance information and remission information regarding the environmental objects; a corner detector to detect corner information regarding the environmental objects using the remission information; a plane detector to detect planar patch information using the corner information and distance information of surroundings corresponding to a corner; and a reflection function detector to detect a reflection function of the planar patch using the remission information depending on angle of light incident on the planar patch. - View Dependent Claims (2, 3, 4, 5)
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6. An apparatus for creating a feature map for localization of a mobile robot, comprising:
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a sensor to detect light reflected from environmental objects to acquire distance information and remission information regarding the environmental objects; and a data processor to extract feature information which include corner information, planer patch information and a reflection function of the planer patch using the distance information and the remission information, and to store the extracted feature information to create the feature map. - View Dependent Claims (7, 8, 9, 10, 11)
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12. A feature information extraction method for creation of a feature map, comprising:
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detecting light reflected from environmental objects to acquire distance information and remission information regarding the environmental objects; detecting corner location coordinates regarding the environmental objects as corner information using the remission information; establishing, using at least one processor, a cube centered on the corner location coordinates using the detected corner location coordinates and distance information of surroundings corresponding to a corner, and detecting planar patch information from distance information of the cube; detecting a reflection function of the planar patch using the remission information which depends on angle of light incident on the planar patch; and extracting and storing at least one of the corner information, the planar patch information, and the reflection function as the feature information. - View Dependent Claims (13, 14)
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15. A method for creating a feature map for localization of a mobile robot, comprising:
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detecting light reflected from environmental objects to acquire distance information and remission information regarding the environmental objects; detecting corner location coordinates regarding the environmental objects as corner information based on the remission information; establishing, using at least one processor, a cube centered on the corner location coordinates using the detected corner location coordinates and distance information of surroundings corresponding to a corner, and detecting planer patch information from distance information of the cube; detecting a reflection function of the planar patch using remission information which depends on angle of light incident on the planar patch; extracting and storing at least one of the corner information, the planar patch information, and the reflection function as feature information; and matching current feature information with stored feature information to correct a position of the robot and updating the stored feature information. - View Dependent Claims (16, 17)
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18. At least one computer readable medium storing computer readable instructions that control at least one processor to implement a feature information extraction method for creation of a feature map, comprising:
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detecting light reflected from environmental objects to acquire distance information and remission information regarding the environmental objects; detecting corner location coordinates regarding the environmental objects as corner information using the remission information; establishing a cube centered on the corner location coordinates using the detected corner location coordinates and distance information of surroundings corresponding to a corner, and detecting planar patch information from distance information of the cube; detecting a reflection function of the planar patch using the remission information which depends on angle of light incident on the planar patch; and extracting and storing at least one of the corner information, the planar patch information, and the reflection function as the feature information.
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19. At least one computer readable medium storing computer readable instructions that control at least one processor to implement a method for creating a feature map for localization of a mobile robot, comprising:
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detecting light reflected from environmental objects to acquire distance information and remission information regarding the environmental objects; detecting corner location coordinates regarding the environmental objects as corner information based on the remission information; establishing a cube centered on the corner location coordinates using the detected corner location coordinates and distance information of surroundings corresponding to a corner, and detecting planer patch information from distance information of the cube; detecting a reflection function of the planar patch using remission information which depends on angle of light incident on the planar patch; extracting and storing at least one of the corner information, the planar patch information, and the reflection function as feature information; and matching current feature information with stored feature information to correct a position of the robot and updating the stored feature information.
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Specification