Apparatus and method for generating three-dimensional map using structured light

• US 9,182,763 B2
• Filed: 05/19/2008
• Issued: 11/10/2015
• Est. Priority Date: 11/09/2007
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Park, Dong-ryeol, Kim, Dong-jo, Bang, Seok-won, Lee, Hyoung-ki
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US12/153,440
• Publication Number:
  US 20090125175A1
• Time in Patent Office: 2,731 Days
• US Class Current: 1/1
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A three-dimensional map-generating apparatus and method using structured light. The apparatus for generating a three-dimensional map using structured light includes an odometer detecting the pose of a mobile robot, and a distance-measuring sensor including a light source module that emits light upward and a camera module that captures an image formed by light reflected from an obstacle, and measuring a distance to the obstacle using the captured image. The apparatus measures a distance to the obstacle using the distance-measuring sensor while changing the relative pose of the mobile robot, thereby generating a three-dimensional map.

Claims

1. A three-dimensional map-generating apparatus, comprising:

an odometer to detect a pose of a mobile robot;

a distance-measuring sensor, including a light source module disposed on an upper surface of the mobile robot to emit light upward relative to a movement direction of the mobile robot and a camera module, disposed on the upper surface of the mobile robot, to capture an image formed by the light as reflected downward from an obstacle that is upward of the camera module, to measure a distance to the obstacle for the mobile robot using the captured image; and

a map-generating unit generating a three-dimensional map using the distance measured by the distance-measuring sensor while changing the pose of the mobile robot,

wherein the light source module is disposed near an edge on the upper surface of the mobile robot and the camera module is disposed near the edge on the upper surface of the mobile robot, away from the light source module, the light source module and the camera module being separated by a distance which corresponds to an entire range on the upper surface of the mobile robot.

2. The three-dimensional map-generating apparatus of claim 1, wherein the light source module is a laser.

3. The three-dimensional map-generating apparatus of claim 1, wherein the map-generating unit accumulates three-dimensional data obtained by reflecting the pose of the mobile robot to measured two-dimensional distance data while changing the pose of the mobile robot, thereby generating the three-dimensional map.

4. The three-dimensional map-generating apparatus of claim 1, wherein the pose of the mobile robot includes position and direction angle of the mobile robot.

5. The three-dimensional map-generating apparatus of claim 1, wherein the odometer is an encoder or a gyro.

6. The three-dimensional map-generating apparatus of claim 1, further comprising:

a plane-extracting unit to extract a plane from the generated three-dimensional map.

7. The three-dimensional map-generating apparatus of claim 6, further comprising:

a feature-map-generating unit to extract feature points from the extracted plane to generate a feature map.

8. The three-dimensional map-generating apparatus of claim 7, further comprising:

a position-detecting unit to compare the feature points extracted from the map of the mobile robot at a current position with previously stored feature points on the feature map to detect the position of the mobile robot.

17. The three-dimensional map-generating apparatus of claim 1, wherein the obstacle is a feature of a ceiling reflecting the emitted light.

18. The three-dimensional map-generating apparatus of claim 6, wherein the plane is a ceiling above the mobile robot.

9. A three-dimensional map-generating method, comprising:

detecting a pose of a mobile robot;

measuring a distance to an obstacle for the mobile robot using a distance-measuring sensor that includes a light source module disposed on an upper surface of the mobile robot emitting light upward relative to a movement direction of the mobile robot and a camera module, disposed on the upper surface of the mobile robot, capturing an image formed by the light as reflected downward from the obstacle, and measuring the distance to the obstacle using the captured image; and

generating a three-dimensional map by measuring the distance while changing the pose of the mobile robot,

wherein the obstacle is upward of the camera module, and

the light source module is disposed near an edge on the upper surface of the mobile robot and the camera module is disposed near the edge on the upper surface of the mobile robot, away from the light source module, the light source module and the camera module being separated by a distance which corresponds to an entire range on the upper surface of the mobile robot.

10. The three-dimensional map-generating method of claim 9, wherein the light source module is a laser.

11. The three-dimensional map-generating method of claim 9, wherein the three-dimensional map is generated by accumulating three-dimensional data obtained by reflecting the pose of the mobile robot to measured two-dimensional distance data while changing the pose of the mobile robot.

12. The three-dimensional map-generating method of claim 9, wherein the pose of the mobile robot includes a position and direction angle of the mobile robot.

13. The three-dimensional map-generating method of claim 9, wherein the pose of the mobile robot is calculated based at least on an odometer, with the odometer being an encoder or a gyro.

14. The three-dimensional map-generating method of claim 9, further comprising:

extracting a plane from the generated three-dimensional map.

15. The three-dimensional map-generating method of claim 14, further comprising:

extracting feature points from the extracted plane to generate a feature map.

16. The three-dimensional map-generating method of claim 15, further comprising:

comparing feature points extracted from the map of the mobile robot at a current position with previously stored feature points on the feature map to detect the position of the mobile robot.

19. The three-dimensional map-generating method of claim 9, wherein the obstacle is a feature of a ceiling reflecting the emitted light.

20. The three-dimensional map-generating method of claim 14, wherein the plane is a ceiling above the mobile robot.