Apparatus for estimating robot position and method thereof

摘要

A method for estimating a location of a device uses a color image and a depth image. The method includes matching the color image to the depth image, generating a 3D reference image based on the matching, generating a 3D object image based on the matching, extracting a 2D reference feature point from the reference image, extracting a 2D reference feature point from the object image, matching the extracted reference feature point from the reference image to the extracted reference feature point from the object image, extracting a 3D feature point from the object image using the matched 2D reference feature point, and estimating the location of the device based on the extracted 3D feature point.

主权项

1. An apparatus for estimating a position of a robot, the apparatus comprising:
a processor comprising: an image acquisition unit configured to acquire an RGB image and an infrared image having depth information, and sequentially generate a reference image serving as a reference to extract feature points and an object image that is to be compared with the reference image by matching the RGB image to the infrared image; an image processing unit configured to extract two-dimensional reference feature points from each of the reference image and the object image, match the reference feature points between the reference image and the object image as matched two-dimensional reference feature points, and extract at least one additional three-dimensional feature point from the matched two-dimensional reference feature points; and a position estimating unit configured to estimate the position of the robot from the at least one additional three-dimensional feature point and optimize the estimated position of the robot.