Simultaneous localization and map building method and medium for moving robot
AssigneeSamsung Electronics Co., Ltd.
InventorsSukjune Yoon, Seung Ki Min, Kyung Shik Roh
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Abstract
A simultaneous localization and map building (SLAM) method and medium for a moving robot is disclosed. The SLAM method includes extracting a horizontal line from an omni-directional image photographed at every position where the mobile robot reaches during a movement of the mobile robot, correcting the extracted horizontal line, to create a horizontal line image, and simultaneously executing a localization of the mobile robot and building a map for the mobile robot, using the created horizontal line image and a previously-created horizontal line image.
Claims21
A simultaneous localization and map building method for a mobile robot, comprising:
- extracting a horizontal line from an omni-directional image photographed everywhere the mobile robot is positioned during a movement of the mobile robot;
- correcting the extracted horizontal line, to create a horizontal line image;
- and
- simultaneously executing a localization of the mobile robot and building of a map for the mobile robot, using the created horizontal line image and a previously-created horizontal line image.
A simultaneous localization and map building method for a mobile robot, comprising:
- extracting a horizontal line from an omni-directional image photographed during a movement of the mobile robot;
- matching the extracted horizontal line with a previously-extracted horizontal line, to derive an angle defined between the mobile robot and a feature point represented within the extracted horizontal line;
- and
- finding a position of the feature point, using a variation in the angle depending on a moved position of the mobile robot.
A robot comprising:
- an image processor creating a horizontal line image from an omni-directional image;
- a controller executing a simultaneous localization and map building operation (SLAM) using the created horizontal line image;
- and
Dependencies are inferred from the claim text.