发明名称 |
IMAGE-BASED SIMULTANEOUS LOCALIZATION AND MAPPING FOR MOVING ROBOT |
摘要 |
PURPOSE: An image-based simultaneous localization and mapping for moving robot are provided to simplify data handling by expressing a vertical straight line composing three dimensions and a floor straight line in a two dimensional plane. CONSTITUTION: A first candidate straight line is determined from extracted lines of photographing images. A corresponding estimated straight line expected in the next photographing images according to the movement of a robot is calculated. A second candidate straight line is determined from the photographing images after the robots moved. The identity of the estimated straight line and the second candidate straight line is determined. A map is made based on the second candidate straight line admitted to have an identity with an estimated straight line. |
申请公布号 |
KR20120078339(A) |
申请公布日期 |
2012.07.10 |
申请号 |
KR20100140609 |
申请日期 |
2010.12.31 |
申请人 |
IUCF-HYU (INDUSTRY-UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY) |
发明人 |
SUH, IL HONG;ZHANG, GUOXUAN |
分类号 |
G05D1/02;B25J9/16;G01C15/00 |
主分类号 |
G05D1/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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