Method and system for localizing mobile robot using external surveillance cameras
First Claim
1. A system for localizing a mobile robot using external surveillance cameras, the system comprising:
- a control unit that recognizes an object and an obstacle included in received surveillance camera images through a shadow removing scheme and a homography scheme, creates a moving path to allow travelling while avoiding the object and the obstacle, and generates a corresponding control signal to control components other than the control unit;
a sensing unit that senses a steering angle and rotation of a driving motor and transmits the steering angle and the rotation of the driving motor to the control unit;
a traveling unit that generates driving force by the control signal;
a steering unit that performs steering along the moving path by the control signal;
a communication unit that transmits images, which are obtained from the surveillance cameras, to the control unit; and
a power supply unit that supplies power to components other than the power supply unit.
1 Assignment
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Accused Products
Abstract
A mobile robot employing a method and a system for localizing the mobile robot using external surveillance cameras acquires images from the surveillance cameras installed indoors adjacent to each other, recognizes objects included in the images by removing shadows from the images and performing a homography scheme, and avoids the recognized objects. The mobile robot employing the method and the system for localizing the mobile robot using the external surveillance cameras enables rapider localization and lower price as compared with a conventional image-based autonomous robot, so that the commercialization of a service robot is accelerated.
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Citations
20 Claims
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1. A system for localizing a mobile robot using external surveillance cameras, the system comprising:
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a control unit that recognizes an object and an obstacle included in received surveillance camera images through a shadow removing scheme and a homography scheme, creates a moving path to allow travelling while avoiding the object and the obstacle, and generates a corresponding control signal to control components other than the control unit; a sensing unit that senses a steering angle and rotation of a driving motor and transmits the steering angle and the rotation of the driving motor to the control unit; a traveling unit that generates driving force by the control signal; a steering unit that performs steering along the moving path by the control signal; a communication unit that transmits images, which are obtained from the surveillance cameras, to the control unit; and a power supply unit that supplies power to components other than the power supply unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of localizing a mobile robot using external surveillance cameras, the method comprising:
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converting original images acquired from indoor surveillance cameras installed adjacent to each other to binary images and removing shadows from the binary images; merging the binary images having no shadows with each other through a homography scheme; recognizing locations and sizes of objects included into the original images through a contour scheme; and compensating for errors of the recognized locations and sizes of the objects, and mapping the objects having the compensated locations and sizes with an image of a real floor, which is merged with a grid. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification