MOBILE ROBOT WITH SINGLE CAMERA AND METHOD FOR RECOGNIZING 3D SURROUNDINGS OF THE SAME
First Claim
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1. A mobile robot with a single camera, comprising:
- a detection unit having a single camera, and configured to sequentially capture images including a ceiling with using the single camera in a moving or stopped state on a cleaning region; and
a control unit configured to extract feature points from the sequentially-captured images, to extract 3D information of a substantial feature point of surroundings, and thereby to make a 3D map.
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Abstract
Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
23 Citations
17 Claims
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1. A mobile robot with a single camera, comprising:
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a detection unit having a single camera, and configured to sequentially capture images including a ceiling with using the single camera in a moving or stopped state on a cleaning region; and a control unit configured to extract feature points from the sequentially-captured images, to extract 3D information of a substantial feature point of surroundings, and thereby to make a 3D map. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for recognizing 3D surroundings of a mobile robot with a single camera, the method comprising:
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a feature point processing step of calculating matching information of the same feature points of two neighboring images, by extracting a plurality of feature points from each surrounding image sequentially captured with using the single camera; generating a preset number of particles on a virtual line based on the matching information, the virtual line passing through a feature point of a first image of the two neighboring images and a center of the camera; extracting 3D information of a substantial feature point of the surroundings by projecting the generated particles to a second image of the two neighboring images; and estimating a position of the mobile robot in the surroundings and making a 3D map based on the 3D information. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification