Apparatus and method for localizing mobile robot
First Claim
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1. An apparatus for localizing a mobile robot, comprising:
- a forward image map processor for building a forward image map including features extracted from forward images obtained by the mobile robot according to a position at which the forward images are taken and feature descriptors of the extracted features; and
a localizer for, when a new forward image is input, localizing the mobile robot on the basis of a feature extracted from the new forward image and the forward image map.
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Abstract
An apparatus and method for localizing a mobile robot are provided. The method includes building a forward image map including features extracted according to position at which the mobile robot takes forward images and feature descriptors of the extracted features, and localizing the mobile robot on the basis of features extracted from a newly input forward image and the built forward image map.
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20 Claims
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1. An apparatus for localizing a mobile robot, comprising:
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a forward image map processor for building a forward image map including features extracted from forward images obtained by the mobile robot according to a position at which the forward images are taken and feature descriptors of the extracted features; and a localizer for, when a new forward image is input, localizing the mobile robot on the basis of a feature extracted from the new forward image and the forward image map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of localizing a mobile robot, comprising:
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building a forward image map including features extracted from forward images obtained by the mobile robot according to a position at which the forward images are taken and feature descriptors of the extracted features; and when a new forward image is input, localizing the mobile robot on the basis of a feature extracted from the new forward image and the forward image map. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification