# US 2019/0378295 A1 · Method of configuring camera position suitable for localization and robot implementing same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0378295 A1 - Document ID: US20190378295A1 - Status: Published application - Kind: A1 - Application number: 16/550,392 - Filed: 2019-08-26 - Published: 2019-12-12 - Earliest claimed: 2019-08-05 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Gyuho EOH; Jungsik KIM - Web page: https://patentgrep.com/patent/US20190378295A1 ## CPC - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - G05D 1/0251: {extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision (stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593)} - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - G06T 7/97: {Determining parameters from multiple pictures (depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85)} - H04N 23/45: for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images - H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils - H04N 23/57: Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices - H04N 23/695: Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - H04N 23/951: by using two or more images to influence resolution, frame rate or aspect ratio - G06T 2207/30242: Counting objects in image - G06T 2207/30244: Camera pose - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract Disclosed herein are a method of configuring a camera position suitable for localization and a robot implementing the same, and the robot according to an embodiment, which configures a camera position suitable for localization, calculates a first SLAM index with respect to an image captured by a first camera sensor on a mounting unit, and calculates a second SLAM index by changing a position of the first camera sensor along the mounting unit, or selects any one of the first SLAM index and the second SLAM index by calculating the second SLAM index with respect to an image captured by a second camera sensor disposed in the mounting unit. ## Claims ### Claim 1 A robot which configures a camera position suitable for localization, comprising: a moving unit configured to move a robot; one or more camera sensors configured to capture images of a space in which the robot is moving: a mounting unit disposed on the robot and coupled with the camera sensor; and a control unit configured to select any one of a first SLAM index and a second SLAM index, wherein control unit calculate the first SLAM index with respect to an image captured by a first camera sensor on the mounting unit, and wherein the control unit calculates the second SLAM index by changing a position of the first camera sensor along the mounting unit or calculates the second SLAM index with respect to an image captured by a second camera sensor disposed in the mounting unit. ### Claim 2 (depends on 1) The robot of claim 1, wherein the mounting unit comprises a rail to which the camera sensor is coupled and which moves the camera sensor, the camera sensor is moved in a state in which the camera sensor is coupled to the mounting unit on the basis of control by the control unit. ### Claim 3 (depends on 2) The robot of claim 2, wherein a plurality of position sensing units configured to confirm a location of a camera sensor are disposed on the rail, when a camera sensor is disposed on a first position sensing unit, the control unit configures a location of the camera sensor using position information corresponding to the first position sensing unit. ### Claim 4 (depends on 1) The robot of claim 1, wherein the control unit calculates the SLAM indices on the basis of any one or more of the number of 3D points in two or more images captured by the camera sensor, repeatability occurring in the two or more images, a true-matching ratio calculated in the images, and a false-matching ratio calculated in the images. ### Claim 5 (depends on 1) The robot of claim 1, wherein the control unit generates a first image corresponding to a first virtual camera sensor and a second image corresponding to a second virtual camera sensor by dividing the image captured by the camera sensor, the control unit generates SLAM indices respectively with respect to the first image and the second image. ### Claim 6 (depends on 1) The robot of claim 1, wherein the control unit changes the position of the camera sensor or weight of an image captured by the camera sensor on the basis of any one or more of a height of the ceiling, magnitude of illuminance, and speed of the robot in a space where the robot is moving, while the robot is moving. ### Claim 7 (depends on 1) The robot of claim 1, wherein the control unit divides a space in which the robot is moving into a first area and a second area, and differently generates a configuration of a camera sensor configured in the first area and a configuration of a camera sensor configured in the second area. ### Claim 8 (depends on 1) The robot of claim 1, wherein the robot further includes an interface unit configured to output position information of a camera sensor corresponding to the selected first SLAM index or the selected second SLAM index. ### Claim 9 A robot which configures a camera position suitable for localization, comprising: a moving unit configured to move a robot; one or more camera sensors configured to capture images of a space in which the robot is moving: a mounting unit disposed on the robot and coupled with the camera sensor; a map storing unit configured to store map information such that the robot performs SLAM using images captured by the camera sensor; and a control unit configured to change a position of the camera sensor or weight of an image captured by the camera sensor on the basis of any one or more of a height of the ceiling, magnitude of illuminance, and speed of the robot in a space where the robot is moving, while the robot is moving. ### Claim 10 (depends on 9) The robot of claim 9, wherein the mounting unit includes a rail to which the camera sensor is coupled and which moves the camera sensor, the camera sensor is moved in a state in which the camera sensor is coupled to the mounting unit on the basis of control by the control unit. ### Claim 11 (depends on 10) The robot of claim 10, wherein a plurality of position sensing units configured to confirm a location of a camera sensor are disposed on the rail, when a camera sensor is disposed on a first position sensing unit, the control unit configures a location of the camera sensor using position information corresponding to the first position sensing unit. ### Claim 12 (depends on 9) The robot of claim 9, wherein the map storing unit divides a space in which the robot is moving into a first area and a second area, and differently stores a configuration of a camera sensor configured in the first area and a configuration of a camera sensor configured in the second area, when comparing pieces of map information stored in the map storing unit during SLAM, the control unit moves a position of the camera sensor coupled to the mounting unit in accordance with the configuration of the camera sensor stored in the map storing unit. ### Claim 13 A method of configuring a camera position suitable for localization, comprising: capturing images of a space in which a robot is moving by one or more camera sensors on a mounting unit onto which a plurality of camera sensors are mounted, or onto which a single camera sensor is movably mounted; calculating a first SLAM index with respect to an image captured by a first camera sensor on the mounting unit by a control unit of the robot; calculating a second SLAM index with respect to an image captured by a second camera sensor on the mounting unit by a control unit of the robot; and selecting any one of the first SLAM index and the second SLAM index by the control unit of the robot; wherein the second camera sensor is the first camera sensor which is moved along the mounting unit and the position of which is changed, or a camera sensor which is disposed on the mounting unit and which is different from the first camera sensor. ### Claim 14 (depends on 13) The method of claim 13, wherein the mounting unit includes a rail to which the camera sensor is coupled and which moves the camera sensor, the method further comprises moving the camera sensor in a state in which the camera sensor is coupled to the mounting unit by the control unit. ### Claim 15 (depends on 14) The method of claim 14, wherein a plurality of position sensing units configured to confirm a location of a camera sensor are disposed on the rail, the method further comprises configuring a location of a camera sensor using position information corresponding to a first position sensing unit by the control unit when the camera sensor is disposed on the first position sensing unit. ### Claim 16 (depends on 13) The method of claim 13, wherein the method further comprises calculating the SLAM indices on the basis of any one or more of the number of 3D points in two or more images captured by the camera sensor, repeatability occurring in the two or more images, a true-matching ratio calculated in the images, and a false-matching ratio calculated in the images by the control unit. ### Claim 17 (depends on 13) The method of claim 13, the method, further comprising: generating a first image corresponding to a first virtual camera sensor and a second image corresponding to a second virtual camera sensor by dividing an image captured by the camera sensor by the control unit; and generating SLAM indices respectively with respect to the first image and the second image by the control unit. ### Claim 18 (depends on 13) The method of claim 13, wherein the method further comprises changing a position of the camera sensor or weight of an image captured by the camera sensor on the basis of any one or more of a height of the ceiling, magnitude of illuminance, and speed of the robot in a space where the robot is moving by the control unit, while the robot is moving. ### Claim 19 (depends on 13) The method of claim 13, wherein the method further comprises dividing a space in which the robot is moving into a first area and a second area, and differently generating a configuration of a camera sensor configured in the first area and a configuration of a camera sensor configured in the second area by the control unit. ### Claim 20 (depends on 13) The method of claim 13, wherein the method further comprises outputting position information of a camera sensor corresponding to the first SLAM index or the second SLAM index selected by the control unit by an interface unit of the robot.