METHOD FOR ESTIMATING SELF-POSITION OF CLEANING ROBOT BY USING CEILING IMAGE THROUGH CCD CAMERA WITH FISHEYE LENS

摘要

PURPOSE: A self-position estimating method of a cleaning robot by using the ceiling image is provided to improve accuracy and cleaning efficiency by detecting the actual position of the cleaning robot and correcting the pose of the cleaning robot with comparison between the ceiling map and the ceiling image. CONSTITUTION: A map is drawn about a ceiling area(120), and specific factors are input to estimate the self-position of a cleaning robot(200), and the image of the ceiling area is obtained by a camera unit(10) having a fisheye lens in traveling the cleaning robot to display the specific factors. The obtained ceiling image is compared with the specific factor of the predetermined ceiling map, and the actual position is detected by comparing the ceiling image with the specific factor. The position of the cleaning robot is estimated according to the predetermined value, and the pose of the cleaning robot is compensated.