Title:
METHOD FOR PREDICTING POSITION OF ROBOT IN REAL TIME THROUGH MAP INFORMATION AND IMAGE MATCHING, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/221333
Kind Code:
A1
Abstract:
The present invention relates to a method for predicting the position of a robot in real time, in which the position of a robot is determined by using map information formed by utilizing the GPS, an IMU, LiDAR, and a camera. The method comprises the steps of: forming first map information on the basis of information acquired through at least one of a LiDAR sensor, an inertial sensor (IMU), a GPS signal, and a camera; determining at least one first map feature point included in the first map information and a map descriptor corresponding to each of the at least one first map feature point; forming second map information on the basis of information acquired in real time through the camera only; determining a start position from the second map information and determining, as a region of interest, a range within a predetermined distance with reference to the start position; determining an ROI descriptor corresponding to the region of interest; and comparing the ROI descriptor with the map descriptor, and predicting, as the position of the robot, the at least one first map feature point corresponding to the map descriptor if the ROI descriptor is matched to the map descriptor.
Inventors:
SUH DONG HYUN (KR)
KIM JAE SEUNG (KR)
KIM JAE SEUNG (KR)
Application Number:
PCT/KR2021/004257
Publication Date:
November 04, 2021
Filing Date:
April 06, 2021
Export Citation:
Assignee:
MOBILTECH (KR)
International Classes:
B25J9/16; B25J19/02; G05D1/02; G06T1/00; G06T3/40; G06T7/246; G06T7/70
Foreign References:
| KR101072876B1 | 2011-10-17 | |||
| KR101311100B1 | 2013-09-25 | |||
| KR20110011424A | 2011-02-08 | |||
| KR20200035930A | 2020-04-06 | |||
| KR101425317B1 | 2014-08-04 |
Attorney, Agent or Firm:
JUNG, Doo Seung (KR)
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