Method and apparatus for estimating pose of mobile robot using particle filter
First Claim
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1. An apparatus for estimating a pose of a mobile robot, comprising:
- an odometer which detects a variation in the pose of a mobile robot;
a feature-processing module which extracts at least one feature from an upward image captured by the mobile robot; and
a particle filter module which determines current poses and weights of a plurality of particles by applying the mobile robot pose variation detected by the odometer and the feature extracted by the feature-processing module to previous poses and weights of the particles.
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Abstract
A method and apparatus for estimating the pose of a mobile robot using a particle filter is provided. The apparatus includes an odometer which detects a variation in the pose of a mobile robot, a feature-processing module which extracts at least one feature from an upward image captured by the mobile robot, and a particle filter module which determines current poses and weights of a plurality of particles by applying the mobile robot pose variation detected by the odometer and the feature extracted by the feature-processing module to previous poses and weights of the particles.
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20 Claims
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1. An apparatus for estimating a pose of a mobile robot, comprising:
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an odometer which detects a variation in the pose of a mobile robot; a feature-processing module which extracts at least one feature from an upward image captured by the mobile robot; and a particle filter module which determines current poses and weights of a plurality of particles by applying the mobile robot pose variation detected by the odometer and the feature extracted by the feature-processing module to previous poses and weights of the particles. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of estimating a pose of a mobile robot, comprising:
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(a) detecting a variation in the pose of a mobile robot; (b) extracting at least one feature from an upward image captured by the mobile robot; and (c) determining current poses and weights of particles by applying the detected mobile robot pose variation and the extracted feature to previous poses and weights of the particles. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification