APPARATUS AND METHOD OF FEATURE REGISTRATION FOR IMAGE BASED LOCALIZATION AND ROBOT CLEANER COMPRISING THE SAME APPARATUS

摘要

PURPOSE: An apparatus and a method of feature registration for image based localization and a robot cleaner including the same are provided to efficiently register a feature point by determining a minimum value among depth values of pixels adjacent to a feature point as a depth value of the feature point. CONSTITUTION: An apparatus of feature registration comprises an image input device (100) configured to input a 2D image and a depth image; an image processing device (200) configured to extract a feature point and depth information from the 2D image and the depth image and generate a descriptor by matching the extracted feature point with the depth information; and an image register device (300) configured to register the feature point including the descriptor that is generated in the image processing device. [Reference numerals] (100) Image input device; (110) First image input unit; (120) Second image input unit; (200) Image processing device; (210) Feature point extraction unit; (220) Depth information extraction unit; (230) Feature point matching unit; (240) Descreptor generating unit; (300) Image register device; (310) Feature point registering unit; (320) Database