Title:
MOBILE ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2020/197303
Kind Code:
A1
Abstract:
Disclosed are a mobile robot and a method of controlling the same capable of realizing excellent SLAM technology even in a low-illuminance environment using block-based feature extraction and matching. The method includes acquiring an image of the inside of a traveling zone during traveling, extracting a feature point from the acquired image (point-based feature point extraction), dividing the acquired image into blocks having a predetermined size and extracting a feature point from each of the divided block-unit images (block -based feature point extraction), matching feature points of a node corresponding to the current location and a node located within a predetermined reference distance from the node corresponding to the current location using the feature point extracted in the point-based feature point extraction (point-based feature point matching), matching feature points of a node corresponding to the current location and a node located within the predetermined reference distance from the node corresponding to the current location using the feature point extracted in the block-based feature point extraction (block -based feature point matching), recognizing the current location based on the result of the point-based feature point matching and the result of the block-based feature point matching, and registering information about the recognized current location, point-based feature point information of the node corresponding to the current location, and block -based feature point information of the node corresponding to the current location on a map.
Inventors:
NOH DONGKI (KR)
LEE JAEKWANG (KR)
LIM SEUNGWOOK (KR)
EOH GYUHO (KR)
LEE JAEKWANG (KR)
LIM SEUNGWOOK (KR)
EOH GYUHO (KR)
Application Number:
PCT/KR2020/004158
Publication Date:
October 01, 2020
Filing Date:
March 27, 2020
Export Citation:
Assignee:
LG ELECTRONICS INC (KR)
International Classes:
B25J9/16; A47L9/28; B25J11/00
Foreign References:
| KR20180043753A | 2018-04-30 | |||
| KR20010108160A | 2001-12-07 | |||
| JP2011008687A | 2011-01-13 | |||
| KR20110011424A | 2011-02-08 | |||
| KR20180023302A | 2018-03-07 | |||
| KR20100104581A | 2010-09-29 | |||
| US20160299508A1 | 2016-10-13 |
Other References:
JEON YURIM ET AL.: "A BRIEF-Gist based efficient place recognition for indoor home service robots", 2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS, 16 October 2016 (2016-10-16), pages 1526 - 1530, XP033051754, DOI: 10.1109/ICCAS.2016.7832506
NIU QUN ET AL.: "Resource-efficient and Automated Image-based Indoor Localization", ACM TRANSACTIONS ON SENSOR NETWORKS, vol. 15, no. 2, 21 February 2019 (2019-02-21), pages 1 - 31, XP058691362, DOI: 10.1145/3284555
See also references of EP 3946839A4
NIU QUN ET AL.: "Resource-efficient and Automated Image-based Indoor Localization", ACM TRANSACTIONS ON SENSOR NETWORKS, vol. 15, no. 2, 21 February 2019 (2019-02-21), pages 1 - 31, XP058691362, DOI: 10.1145/3284555
See also references of EP 3946839A4
Attorney, Agent or Firm:
PARK, Byung Chang (KR)
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