Robot cleaner and method for controlling the same
AssigneeLG Electronics Inc.
InventorsDongki NOH, Seungmin BAEK, Kwangho AN
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Abstract
A robot cleaner and a control method thereof according to the present disclosure select a seed pixel in an image of an area in front of a main body, obtain a brightness difference between an upper region and a lower region obtained by dividing a predetermined detection area including each of neighboring pixels of the seed pixel and select a pixel belonging to a detection area having a largest brightness difference as a pixel constituting the boundary between objects indicated in the image. Accordingly, the boundary between objects present within a cleaning area can be detected rapidly and correctly through an image.
Claims16
A method for controlling a robot cleaner, comprising:
- (a) acquiring an image of an area in front of a main body;
- (b) selecting a seed pixel from the image acquired in step (a);
- (c) obtaining a brightness difference between an upper region and a lower region obtained by horizontally dividing a predetermined detection area to which each of detection target pixels belongs, the detection target pixels including pixels belonging to the same row as the seed pixel in a column adjoining the seed pixel;
- and
- (d) selecting a pixel belonging to a detection area having a largest brightness difference from the detection target pixels as a pixel constituting the boundary between objects indicated in the image.
A robot cleaner, comprising:
- a movable main body;
- an image acquisition unit for acquiring an image of an area in front of the main body;
- and
- a controller configured to select a seed pixel from the image acquired by the image acquisition unit, to obtain a brightness difference between an upper region and a lower region obtained by horizontally dividing a predetermined detection area to which each of detection target pixels belongs, the detection target pixels including pixels belonging to the same low as the seed pixel in a column adjoining the seed pixel, and to select a pixel belonging to a detection area having a largest brightness difference from the detection target pixels as a pixel constituting the boundary between objects indicated in the image.
Dependencies are inferred from the claim text.