Robot and method of building map therefor

• US 8,761,925 B2
• Filed: 10/23/2008
• Issued: 06/24/2014
• Est. Priority Date: 04/30/2008
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Yoon, Sukjune, Kwon, Woong, Hyung, Seung Yong, Kim, Hyun Kyu, Roh, Kyung Shik
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US12/289,274
• Publication Number:
  US 20090276092A1
• Time in Patent Office: 2,070 Days
• Field of Search: None
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/40442 Voxel map, 3-D grid map
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 2201/0217 Anthropomorphic or bipedal robot
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 40/23 Recognition of whole body movements, e.g. for sport training

Abstract

Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.

Claims

1. A method of building a map for a robot comprising:

sequentially acquiring first and second surface data of a route on which the robot moves;

matching the first and second surface data with each other to calculate a difference between the first and second surface data;

detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data;

generating third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and

matching the third surface data and any one without the dynamic obstacle of the first and second surface data with each other to build the map,

wherein the matching the first and second surface data with each other is first carried out by iterative closest point (ICP)-matching for registration of the first and second surface data.

2. The method according to claim 1, wherein the first and second surface data are surface data of three-dimensional images acquired by the robot during moving.

3. The method according to claim 1, further comprising:

acquiring motion data of the robot; and

calculating rigid body transformation matrixes of the first and second surface data from the motion data,

wherein the ICP-matching for registration of the first and second surface data is carried out on condition that the rigid body transformation matrixes are set as initial positions.

4. The method according to claim 1, wherein the difference between the first and second surface data is a distance difference of the first and second surface data, ICP-matched with each other.

5. The method according to claim 4, wherein the detecting of the dynamic obstacle includes determining whether or not the distance difference of the first and second surface data is more than or equal to a designated distance, and detecting the dynamic obstacle from the first and second surface data when the distance difference of the first and second surface data is more than or equal to the designated distance.

6. The method according to claim 5, wherein the removing of the dynamic obstacle includes:

converting the first and second surface data, from which the dynamic obstacle is detected, into a two-dimensional grid image; and

removing the dynamic obstacle by contracting/expanding the two-dimensional grid image.

7. The method according to claim 1, wherein the generating the third surface data generates surface data of a three-dimensional image by removing the dynamic obstacle from the first and second surface data.

8. The method according to claim 7, wherein ICP-matching for registration of the third surface data and any one of the first and second surface data without the dynamic obstacle of the first and second surface data is secondarily carried out in the matching of the third surface data and any one of the first and second surface data with each other.

9. The method according to claim 8, wherein initial positions for the second ICP-matching are positions for the first ICP-matching.

10. A robot, comprising:

a surface data acquiring unit sequentially acquiring first and second surface data of a route on which the robot moves; and

a control unit matching the first and second surface data with each other to detect a dynamic obstacle from the first and second surface data, generating third surface data by removing the dynamic obstacle from at least one of the first and second surface data, and matching the third surface data and any one without the dynamic obstacle of the first and second surface data with each other,

wherein the control unit first performs iterative closest point (ICP)-matching for registration of the first and second surface data.

11. The robot according to claim 10, wherein the surface data acquiring unit is a three-dimensional measuring apparatus to measure the first and second surface data acquired while the robot moves.

12. The robot according to claim 10, wherein the control unit matches the third surface data and any one of the first and second surface data with each other to build a map used by the robot to move.

13. The robot according to claim 10, further comprising a storing unit storing the first, second and third surface data, the storing unit stores a plurality of surface data of three-dimensional images sequentially acquired while the robot moves.

14. The robot according to claim 10, wherein the control unit detects the dynamic obstacle from the first and second surface data when a distance difference of the first and second surface data, the ICP-matched with each other is more than a designated distance.

15. The robot according to claim 14, wherein the control unit converts the first and second surface data, from which the dynamic obstacle is detected, into a two-dimensional grid image, and removes the dynamic obstacle by contracting/expanding the two-dimensional grid image.

16. The robot according to claim 15, wherein the control unit generates the third surface data of a three-dimensional image by removing the dynamic obstacle from the first and second surface data.

17. The robot according to claim 16, wherein the control unit secondarily performs ICP-matching for registration of the third surface data and any one of the first and second surface data without the dynamic obstacle of the first and second surface data.

18. The robot according to claim 17, wherein initial positions for the second ICP-matching are positions for the first ICP-matching.