Robot slip detection apparatus and method

摘要

A technique of detecting a slip of a robot using a particle filter and feature information of a ceiling image is disclosed. A first position of the robot is computed using a plurality of particles, a second position of the robot is computed using the feature information of the ceiling image, and whether a slip has occurred is determined based on a distance between the first position and the second position.

主权项

1. A robot slip detection apparatus, comprising:
a first position computing unit which computes a first position of a robot using a particle filter; a second position computing unit which computes a second position of the robot by comparing feature information of a current image with feature information of a previous image; and a slip detecting unit which detects a slip of the robot based on the first position and the second position and registers the second position as a new particle for computing a new first position using a particle filter based on the new particle when the slip is detected.