Robot cleaner and controlling method of the same

摘要

Disclosed are a robot cleaner and a method for controlling the same. The robot cleaner is capable of recognizing a position thereof by extracting one or more feature points having 2D coordinates information with respect to each of a plurality of images, by matching the feature points with each other, and then by creating a matching point having 3D coordinates information. Matching points having 3D coordinates information are created to recognize a position of the robot cleaner, and the recognized position is verified based on a moving distance measured by using a sensor. This may allow a position of the robot cleaner to be precisely recognized, and allow the robot cleaner to perform a cleaning operation or a running operation by interworking the precisely recognized position with a map.

主权项

1. A robot cleaner, comprising:
a case; at least one of brush; a driving unit configured to move the robot cleaner by driving wheels; an image detecting unit configured to detect a plurality of images by capturing peripheral circumstances; a control unit configured to extract one or more feature points having 2D coordinates information with respect to each of the plurality of images, match the feature points with each other by comparing the 2D coordinates information of the feature points with each other, and create a matching point having 3D coordinates information based on a matching result through the feature point matching unit, and configured to recognize a position of the robot cleaner based on the created matching point; and a storage unit configured to store therein the matching point having 3D coordinates information.