Mobile robot with single camera and method for recognizing 3D surroundings of the same

摘要

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.

主权项

1. A mobile robot with a single camera, comprising:
a detection unit having a single camera, and configured to sequentially capture images of different locations in a cleaning region using the single camera; and a control unit configured to extract feature points from the sequentially-captured images, to match at least one same feature point of two neighboring images, and to extract 3D information of at least one real feature point, wherein the at least one real feature point is represented by the at least one same feature point, wherein the control unit generates a plurality of particles on a virtual line, projects the generated particles to a second image of the two neighboring images, and extracts 3D information of the at least one real feature point based on a correlation between the projected particles and the at least one same feature point of the second image, and wherein the virtual line passes through both a center of the camera and the at least one real feature point of a first image of the two neighboring images.