| 摘要 |
A localization apparatus and a method for correcting a perspective distortion of a mobile robot are provided to recognize an accurate position of the mobile robot at various environments by correcting an error due to a perspective distortion of a projection surface. A localization apparatus includes a plurality of infrared LEDs(220), an infrared ray illumination control device(230), a CMOS array(240), a vision controller(250), and a two-axis inclinometer(260). A camera installed on a mobile robot takes an image of a landmark attached to a ceiling or a side wall. Two-axis inclination information is detected for a gravity direction of the mobile robot from the two-axis inclinometer installed on the body of the camera. The two-axis inclination information is a rolling angle and a pitch angle for the gravity direction. A sliding tray performs labeling for a partial image brightly displayed at a binary image. The sliding tray detects a mark from the number of pixels and/or distribution of a label.
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