METHOD AND APPARATUS FOR ESTIMATING LOCATION IN THE OBJECT USING OMNIDIRECTIONAL VISION SENSOR

摘要

PURPOSE: A method and a device of estimating the location of an object with an omnidirectional vision sensor reduce costs and stably recognize a location by using all objects with color as a land mark. CONSTITUTION: A device of estimating the location of an object with an omnidirectional vision sensor includes a non-planar mirror (512), a subsidiary non-planar mirror (514), a photographing part (516), and a control part (518). The non-planar mirror reflects an omnidirectional image. The subsidiary non-planar mirror is placed on a straight-line distance of the non-planar mirror. The photographing part photographs the image reflected from the non-planar mirror or the subsidiary non-planar mirror. The control part identifies specific land marks in each of the images obtained from the photographing part by mirror through an identification part and estimates an absolute location coordinate value of the current location of the object with an angle of arrival (AoA) method by controlling a first positioning operation part. The control part obtains first positioning information and computes the final positioning information of the object using the first positioning information or predetermined distance information between the non-planar mirrors or the subsidiary non-planar mirrors based on a specific pattern formed by the non-planar mirror or the subsidiary non-planar mirror around the land mark. [Reference numerals] (512) Non-planar mirror; (514) Subsidiary non-planar mirror; (516) Photographing part; (518) Control part; (AA) Pairing part; (BB) Identification part; (CC) First flank calculation part; (DD) Final flank part