Localization method for a moving robot
First Claim
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1. A localization method of a moving robot, the method comprising:
- capturing a first omni-directional image by the moving robot;
confirming at least one node at which a second omni-directional image having a highest correlation with the first omni-directional image is captured, from a selection of at least three nodes at which a second omni-directional image having a high correlation with the first omni-directional image is captured;
determining that the confirmed at least one node from the selection of at least three nodes has a correlation coefficient higher than a reference value; and
determining that the moving robot is located at a first node when the moving robot reaches the first node, at which the second omni-directional image having a highest correlation with the first omni-directional image is captured, from selection of at least three nodes;
wherein, determining whether the remaining nodes other than the first node from among the at least one node are effective or not, and moving the moving robot to move to a heading angle determined according to the number of effective nodes, so that the moving robot approaches the first node,wherein, the number of the at least one node is “
3”
, the moving direction of the moving robot is set to the heading angle when the number of effective nodes is “
0”
, the direction from the effective node to the first node is set to the heading angle direction when the number of effective nodes is “
1”
, and the direction from a gravity center of a triangle composed of the first node and two effective nodes to the first node is set to the heading angle when the number of effective nodes is “
2”
.
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Abstract
A localization method of a moving robot is disclosed in which the moving robot includes: capturing a first omni-directional image by the moving robot; confirming at least one node at which a second omni-directional image having a high correlation with the first omni-directional image is captured; and determining that the moving robot is located at the first node when the moving robot reaches a first node, at which a second omni-directional image having a highest correlation with the first omni-directional image is captured, from among the at least one node.
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Citations
19 Claims
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1. A localization method of a moving robot, the method comprising:
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capturing a first omni-directional image by the moving robot; confirming at least one node at which a second omni-directional image having a highest correlation with the first omni-directional image is captured, from a selection of at least three nodes at which a second omni-directional image having a high correlation with the first omni-directional image is captured; determining that the confirmed at least one node from the selection of at least three nodes has a correlation coefficient higher than a reference value; and determining that the moving robot is located at a first node when the moving robot reaches the first node, at which the second omni-directional image having a highest correlation with the first omni-directional image is captured, from selection of at least three nodes; wherein, determining whether the remaining nodes other than the first node from among the at least one node are effective or not, and moving the moving robot to move to a heading angle determined according to the number of effective nodes, so that the moving robot approaches the first node, wherein, the number of the at least one node is “
3”
, the moving direction of the moving robot is set to the heading angle when the number of effective nodes is “
0”
, the direction from the effective node to the first node is set to the heading angle direction when the number of effective nodes is “
1”
, and the direction from a gravity center of a triangle composed of the first node and two effective nodes to the first node is set to the heading angle when the number of effective nodes is “
2”
. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A localization method of a moving robot, the method comprising:
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capturing a first omni-directional image by the moving robot; confirming at least one node at which a second omni-directional image having a highest correlation with the first omni-directional image is captured, from a selection of at least three nodes at which a second omni-directional image having a high correlation with the first omni-directional image is captured; determining that the confirmed at least one node from the selection of at least three nodes has a correlation coefficient higher than a reference value; and determining that the moving robot is located at a first node when the moving robot reaches the first node, at which the second omni-direction image having a highest correlation with the first captured omni-directional image is captured, and moving the moving robot to move to the first node when the moving robot does not reach the first node; wherein, determining whether the remaining nodes other than the first node from among the at least one node are effective or not, and moving the moving robot to move to a heading angle determined according to the number of effective nodes, so that the moving robot approaches the first node, wherein, the number of the at least one node is “
3”
, the moving direction of the moving robot is set to the heading angle when the number of effective nodes is “
0”
, the direction from the effective node to the first node is set to the heading angle direction when the number of effective nodes is “
1”
, and the direction from a gravity center of a triangle composed of the first node and two effective nodes to the first node is set to the heading angle when the number of effective nodes is “
2”
. - View Dependent Claims (12, 13, 14, 15)
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16. A moving robot, comprising:
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an omni-directional camera capturing an omni-directional image by the moving robot; a correlation coefficient calculator calculating a correlation coefficient between the captured omni-directional image and at least a second omni-directional image captured at least at one node location of a movable place of the moving robot, the at least one node location being the node location having the highest correlation coefficient from among a plurality of node locations; and a controller moving the moving robot to a first node location when the correlation coefficient calculator calculates that the correlation coefficient is not greater than a reference value and the current first node location is not equal to a previous first node location and determining that the moving robot is at the first node location when the correlation coefficient is greater than the reference value, wherein, determining whether the remaining nodes other than the first node from among the at least one node are effective or not, and moving the moving robot to move to a heading angle determined according to the number of effective nodes, so that the moving robot approaches the first node, wherein, the number of the at least one node is “
3”
, the moving direction of the moving robot is set to the heading angle when the number of effective nodes is “
0”
, the direction from the effective node to the first node is set to the heading angle direction when the number of effective nodes is “
1”
, and the direction from a gravity center of a triangle composed of the first node and two effective nodes to the first node is set to the heading angle when the number of effective nodes is “
2”
. - View Dependent Claims (17, 18, 19)
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Specification