Moving robot and moving object detecting method and medium thereof
AssigneeSamsung Electronics Co., Ltd.
InventorsSukjune Yoon, Seung Ki Min, Kyung Shik Roh, Chil Woo Lee, Chi Min Oh
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Abstract
A moving robot and moving object detecting method and medium thereof is disclosed. The moving object detecting method includes transforming an omni-directional image captured in the moving robot to a panoramic image, comparing the panoramic image with a previous panoramic image and estimating a movement region of the moving object based on the comparison, and recognizing that a movement of the moving object exist in the estimated movement region when the area of the estimated movement region exceeds the reference area.
Claims22
A moving object detecting method of a moving robot comprising:
- transforming an omni-directional image captured in the moving robot to a panoramic image;
- comparing the panoramic image with a previous panoramic image and estimating a movement region of the moving object based on the comparison;
- and
- recognizing that a movement of the moving object exists in the estimated movement region when the area of the estimated movement region exceeds a reference area.
A moving object detecting method of a moving robot comprising:
- transforming a plurality of omni-directional images captured in the moving robot to a plurality of panoramic images;
- comparing the plurality of panoramic images with each other and discovering a block from one of the plurality of panoramic images, wherein the block is matched with a block of another panoramic image;
- calculating an SAD between the matched blocks;
- and
- detecting a moving object using the calculated SAD.
A moving robot comprising:
- an image processor transforming an omni-directional image to a panoramic image;
- a memory storing the panoramic image;
- and
- a controller comparing the panoramic image transformed in the image processor with a panoramic image previously stored in the memory, estimating a movement region of a moving object based on the comparison, and determining that the moving object exists in the estimated movement region when an area of the estimated movement region exceeds a reference area.
A motion detection method comprising:
- receiving a current panoramic image and a previous panoramic image;
- matching blocks between the current panoramic image and the previous panoramic image;
- acquiring an SAD for each of the matching blocks;
- maintaining a reference SAD;
- and
- determining motion based on a whether the SAD of a matched block meets the value of a reference SAD.
Dependencies are inferred from the claim text.