Method of building map of mobile platform in dynamic environment
First Claim
Patent Images
1. A method of building a map of a mobile platform, comprising:
- acquiring, by a processor, a three-dimensional (3D) image of an environment in which the mobile platform moves;
extracting feature points from the 3D image to estimate motion states of the respective feature points;
clustering the feature points based on the motion states of the respective feature points to divide the feature points into a dynamic map and a static map; and
building the mobile platform map based on the static map.
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Abstract
Disclosed herein is a method of building a map of a mobile platform moving in a dynamic environment and detecting an object using a 3D camera sensor, e.g., an IR TOF camera sensor, for localization. A localization technology to separate and map a dynamic object and a static object is applied to a mobile platform, such as an unmanned vehicle or a mobile robot. Consequently, the present method is capable of accurately building map information based on the static object in a dynamic environment having a large number of dynamic objects and achieving a dynamic object avoidance or chasing function using position information acquired to build the map.
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Citations
23 Claims
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1. A method of building a map of a mobile platform, comprising:
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acquiring, by a processor, a three-dimensional (3D) image of an environment in which the mobile platform moves; extracting feature points from the 3D image to estimate motion states of the respective feature points; clustering the feature points based on the motion states of the respective feature points to divide the feature points into a dynamic map and a static map; and building the mobile platform map based on the static map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of building a map for a movable unit in a dynamic environment, comprising:
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acquiring, by a processor, a three-dimensional (3D) image of an environment having a dynamic object; extracting feature points from the 3D image to estimate motion states of the respective feature points; clustering the feature points based on the motion states of the respective feature points to divide the feature points into a dynamic map and a static map; and building the movable unit map based on the static map. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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21. A method of creating a dynamic object avoidance path of a mobile platform, comprising:
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acquiring, by a processor, a three-dimensional (3D) image of an environment in which the mobile platform moves; extracting feature points from the 3D image to estimate motion states of the respective feature points; clustering the feature points based on the motion states of the respective feature points to divide the feature points into a dynamic map and a static map; and creating the dynamic object avoidance path based only on the dynamic map. - View Dependent Claims (22, 23)
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Specification