发明名称 |
WALKING ROBOT AND SIMULTANEOUS LOCALIZATION AND MAPPING METHOD THEREOF |
摘要 |
A walking robot and a simultaneous localization and mapping method thereof in which odometry data acquired during movement of the walking robot are applied to image-based SLAM technology so as to improve accuracy and convergence of localization of the walking robot. The simultaneous localization and mapping method includes acquiring image data of a space about which the walking robot walks and rotational angle data of rotary joints relating to walking of the walking robot, calculating odometry data using kinematic data of respective links constituting the walking robot and the rotational angle data, and localizing the walking robot and mapping the space about which the walking robot walks using the image data and the odometry data.
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申请公布号 |
US2012155775(A1) |
申请公布日期 |
2012.06.21 |
申请号 |
US201113326680 |
申请日期 |
2011.12.15 |
申请人 |
AHN SUNG HWAN;ROH KYUNG SHIK;YOON SUK JUNE;HYUNG SEUNG YONG;SAMSUNG ELECTRONICS CO., LTD. |
发明人 |
AHN SUNG HWAN;ROH KYUNG SHIK;YOON SUK JUNE;HYUNG SEUNG YONG |
分类号 |
G06K9/46 |
主分类号 |
G06K9/46 |
代理机构 |
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