| 摘要 |
PURPOSE: A robot position estimating apparatus and method are provided to estimate the accurate position of a robot by calculating a robust fundamental matrix in a dynamic environment, in which various movements exist, using images from a single camera. CONSTITUTION: A robot position estimating apparatus(300) comprises a feature point matching unit(301), a clustering unit(303), and a noise removing unit(305). The feature point matching unit creates vectors that connect the feature points of the previous image frame to the feature points of the present image frame corresponding to the feature points of the previous image frame and calculates the spatial relations between the feature points of the present image frame. The clustering unit composes one or more motion clusters by grouping the vectors based on the spatial relations in a feature space. The noise removing unit removes noise from each motion cluster. |
