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US 8,428,343 B2Granted
VOXEL map generator and method thereof
AssigneeSamsung Electronics Co., Ltd.
InventorsSeung Yong Hyung, Kyung Shik Roh, Suk June Yoon, Sung Hwan Ahn
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AssigneeSamsung Electronics Co., Ltd.
InventorsSeung Yong Hyung, Kyung Shik Roh, Suk June Yoon, Sung Hwan Ahn
Estimating the term…
A volume cell (VOXEL) map generation apparatus includes an inertia measurement unit to calculate inertia information by calculating inertia of a volume cell (VOXEL) map generator, a Time of Flight (TOF) camera to capture an image of an object, thereby generating a depth image of the object and a black-and-white image of the object, an estimation unit to calculate position and posture information of the VOXEL map generator by performing an Iterative Closest Point (ICP) algorithm on the basis of the depth image of the object, and to recursively estimate a position and posture of the VOXEL map generator on the basis of VOXEL map generator inertia information calculated by the inertia measurement unit and VOXEL map generator position and posture information calculated by the ICP algorithm, and a grid map construction unit to configure a grid map based on the recursively estimated VOXEL map generator position and posture.
A volume cell (VOXEL) map generation apparatus comprising:
A method for generating a volume cell (VOXEL) comprising:
A method for reducing errors of a position and posture of a volume cell (VOXEL) map generator, the method comprising:
A method for reducing errors of a position and posture of a volume cell (VOXEL) map generator, the method comprising:
Dependencies are inferred from the claim text.
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Using feature-based methods: involving reference images or patches
Depth or shape recovery: from multiple images
Using stereoscopic image cameras: using two or more image sensors with different characteristics other than in their location or field of view,…
Using stereoscopic image cameras: in combination with electromagnetic radiation sources for illuminating objects
About 4 years 11 months of term left · ends 25 Sep 2031 (estimated)
This application claims the benefit of Korean Patent Application No. 2010-0098927, filed on Oct. 11, 2010 in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference.
1. Field
Embodiments of the present disclosure relate to a volume cell (VOXEL) map generator for integrating Simultaneous Localization And Mapping (SLAM) into Iterative Closest Point (ICP) and a method for use in the VOXEL map generator.
These and/or other aspects of the disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a perspective view illustrating a VOXEL map generator according to an exemplary embodiment of the present disclosure.
FIG. 2 shows a method for implementing a video-based'SLAM technology for use in a VOXEL map generation method according to another embodiment of the present disclosure.
Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
The 3D occupancy gridmap divides a space into several areas using a predetermined grid, and engraves the probability indicating whether a corresponding space is filled or empty in the corresponding space, such that it can obtain information about the space. A unit grid is referred to as a volume cell (VOXEL), and a gridmap formed by such grid is a VOXEL map.
The embodiments of the present disclosure will hereinafter be described with reference to the accompanying drawings.