Map generating and updating method for mobile robot position recognition
First Claim
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1. A method for building a map for mobile robot localization, comprising:
- detecting and temporarily registering a landmark from a first image acquired at a first location by the mobile robot;
extracting the corresponding landmark from a second image acquired at a second location by the mobile robot;
estimating the temporarily registered landmark from the second image based on moving information and the temporarily registered landmark information; and
mainly registering the temporarily registered landmark if it is determined that a matching error is in a range of a predetermined reference error by calculating the matching error between the temporarily registered landmark and the estimated landmark;
wherein the temporarily registering of the landmark includes;
dividing the first image into a plurality of sub-images and detecting features by calculating a magnitude of a brightness change and a phase of a brightness change in the plurality of sub-images; and
searching features at which the brightness change and the magnitude of the phase of the brightness change are maximal among the plurality of features detected from each sub-image and setting the features as the temporarily registered landmark; and
wherein the magnitude in the brightness change is obtained by taking a square root of a sum of a horizontal brightness change and a vertical brightness change of each sub-image.
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Abstract
The present invention relates to a map generating and updating method for mobile robot position recognition, and more specifically relates to a map generating and updating method for mobile robot position recognition, whereby position recognition error can be minimized by registering landmarks extracted during map generation and landmarks extracted on the basis of the probable error in inferred landmarks, calculating the accuracy of landmarks pre-registered during map generation, and adjusting the level of landmarks of low accuracy or removing landmarks which have been registered erroneously.
25 Citations
17 Claims
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1. A method for building a map for mobile robot localization, comprising:
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detecting and temporarily registering a landmark from a first image acquired at a first location by the mobile robot; extracting the corresponding landmark from a second image acquired at a second location by the mobile robot; estimating the temporarily registered landmark from the second image based on moving information and the temporarily registered landmark information; and mainly registering the temporarily registered landmark if it is determined that a matching error is in a range of a predetermined reference error by calculating the matching error between the temporarily registered landmark and the estimated landmark; wherein the temporarily registering of the landmark includes; dividing the first image into a plurality of sub-images and detecting features by calculating a magnitude of a brightness change and a phase of a brightness change in the plurality of sub-images; and searching features at which the brightness change and the magnitude of the phase of the brightness change are maximal among the plurality of features detected from each sub-image and setting the features as the temporarily registered landmark; and wherein the magnitude in the brightness change is obtained by taking a square root of a sum of a horizontal brightness change and a vertical brightness change of each sub-image. - View Dependent Claims (2, 3, 4, 5, 17)
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6. A method for updating a map for mobile robot localization, comprising:
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a) extracting and registering a landmark by acquiring a first image at a first location; b) detecting a landmark corresponding to the registered landmark by acquiring a second image at a second location and predicting the registered landmark using location information; c) detecting quality of the registered landmark corresponding to the detected landmark; and d) calculating matching probability between the detected landmark and the predicted landmark using a probability function and differentially updating the registered landmark according to the matching probability and the quality of the registered landmark; wherein in the step d), when the matching probability is higher than a first reference probability and lower than a second reference probability, if it is determined that the quality of the registered landmark is higher than the reference quality, the detected landmark is accommodated. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification