Apparatus and method of localization of mobile robot

• US 20100152945A1
• Filed: 11/03/2009
• Published: 06/17/2010
• Est. Priority Date: 12/17/2008
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Choi, Ki-wan, Lee, Hyoung-ki, Park, Ji-young
• Granted Patent: US 8,600,603 B2
• Time in Patent Office: Days
• US Class Current: 701/28
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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
• CPC Class Codes: G05D 2201/0203 Cleaning or polishing vehicle
• CPC Class Codes: G06T 7/75 involving models
• CPC Class Codes: G06V 20/36 Indoor scenes

Abstract

A localization method and localization device of a mobile robot is provided. In one aspect, characteristic information of a reference object is stored in advance to be used as a landmark for localization, and reference characteristic information is defined by utilizing the stored characteristic information and characteristic information obtained at an initial location of the mobile robot. Therefore, the accuracy of localization can be increased without the use of additional artificial landmarks.

Claims

1. A localization device of a mobile robot, comprising:

a storage unit to store characteristic information of a reference object;

a registration unit to match characteristic information obtained at an initial location of the mobile robot with the stored characteristic information of the reference object to derive reference characteristic information, and register the reference characteristic information; and

a location estimation unit to estimate a location of the robot using the reference characteristic information.

2. The localization device of claim 1, wherein the reference object is a charging station for recharging the robot.

3. The localization device of claim 1, wherein the characteristic information of the reference object is information on at least one of a shape, a color, and a corner of the reference object.

4. The localization device of claim 1, wherein the characteristic information obtained at the initial location includes characteristic information of the reference object and characteristic information of surroundings of the reference object.

5. The localization device of claim 4, wherein the reference characteristic information includes characteristic information of a corner of the reference object and characteristic information of a plane patch in a vicinity of the corner.

6. The localization device of claim 1, wherein the location estimation unit estimates an absolute distance between the mobile robot and the reference object using the reference characteristic information.

7. The localization device of claim 1, further comprising a relocation unit to control the mobile robot to move toward a vicinity of the reference object when the mobile robot is located incorrectly.

8. A localization device of a mobile robot, comprising:

a storage unit to store characteristic information, regarding a charging station for recharging the mobile robot, before an estimating of a location of the mobile robot;

a registration unit to match characteristic information of the charging station and surroundings of the charging station, obtained at an initial location of the mobile robot immediately after a departure from the charging station, with the characteristic information stored in the storage unit to derive reference characteristic information, and register the reference characteristic information;

a location estimation unit to estimate the location of the mobile robot using the reference characteristic information; and

a relocation unit to control the mobile robot to move toward a vicinity of the charging station when a robot movement slip is determined to occur while the mobile robot is moving.

9. A localization method of a mobile robot, comprising:

storing characteristic information of a reference object;

obtaining characteristic information of surroundings of the mobile robot at an initial location of the mobile robot;

matching the obtained characteristic information of the surroundings with the stored characteristic information of the reference object to derive reference characteristic information, and registering the reference characteristic information; and

estimating a location of the mobile robot using the reference characteristic information.

10. The localization method of claim 9, wherein the reference object is a charging station for recharging the mobile robot.

11. The localization method of claim 9, wherein the characteristic information of the reference object includes information on at least one of a shape, a color, and a corner of the reference object.

12. The localization method of claim 9, wherein the characteristic information obtained at the initial location includes characteristic information on the charging station and surroundings of the charging station.

13. The localization method of claim 12, wherein the reference characteristic information includes characteristic information of a corner of the reference object and characteristic information of a plane patch in a vicinity of the corner.

14. The localization method of claim 9, wherein the estimating of the location of the mobile robot comprises estimating an absolute distance between the mobile robot and the reference object using the reference characteristic information.

15. The localization method of claim 9, further comprising moving the mobile robot toward a vicinity of the reference object when the mobile robot is located incorrectly.