Robot slip detection apparatus and method
First Claim
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1. A robot slip detection apparatus, comprising:
- a first position computing unit which computes a first position of a robot using a particle filter;
a second position computing unit which computes a second position of the robot by comparing feature information of a current image with feature information of a previous image; and
a slip detecting unit which detects a slip of the robot based on the first position and the second position and registers the second position as a new particle for computing a new first position using a particle filter based on the new particle when the slip is detected.
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Abstract
A technique of detecting a slip of a robot using a particle filter and feature information of a ceiling image is disclosed. A first position of the robot is computed using a plurality of particles, a second position of the robot is computed using the feature information of the ceiling image, and whether a slip has occurred is determined based on a distance between the first position and the second position.
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Citations
20 Claims
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1. A robot slip detection apparatus, comprising:
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a first position computing unit which computes a first position of a robot using a particle filter; a second position computing unit which computes a second position of the robot by comparing feature information of a current image with feature information of a previous image; and a slip detecting unit which detects a slip of the robot based on the first position and the second position and registers the second position as a new particle for computing a new first position using a particle filter based on the new particle when the slip is detected. - View Dependent Claims (2, 3, 4, 5)
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6. A robot slip detection apparatus, comprising:
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a first position computing unit which computes a first position of a robot using a particle filter; a second position computing unit which computes a second position of the robot by comparing feature information of a current image with feature information of a previous image; and a slip detecting unit which detects a slip of the robot based on the second position and at least one of a plurality of particles for computing the first position and registers the second position as a new particle for computing a new first position using a particle filter based on the new particle when the slip is detected. - View Dependent Claims (7, 8, 9, 10)
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11. A method of detecting a slip of a robot, comprising:
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computing a first position of a robot using a particle filter; computing a second position of the robot by comparing feature information of a current image with feature information of a previous image; and detecting a slip of the robot based on the first position and the second position and registering the second position as a new particle for computing a new first position using a particle filter based on the new particle when the slip is detected. - View Dependent Claims (12, 13, 14, 15)
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16. A method of detecting a slip of a robot, comprising:
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computing a first position of a robot using a particle filter; computing a second position of the robot by comparing feature information of a current image with feature information of a previous image; and detecting a slip of the robot based on the second position and at least one of a plurality of particles for computing the first position and registering the second position as a new particle for computing a new first position using a particle filter based on the new particle when the slip is detected. - View Dependent Claims (17, 18, 19, 20)
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Specification