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Localization method for a moving robot

  • US 8,588,512 B2
  • Filed: 01/18/2008
  • Issued: 11/19/2013
  • Est. Priority Date: 03/20/2007
  • Status: Active Grant
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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