公开(公告)号：EP3882869A1

公开(公告)日：2021-09-22

申请号：EP19885755.9

申请日：2019-11-15

Applicant: Korea Advanced Institute of Science and Technology

Inventor： MYEONG, Hyeon ,  KIM, Hyungjin ,  SONG, Seungwon

IPC: G06T17/20 ,  G06T7/70

Abstract: Robust laser scanner matching method and device considering a movement of a ground robot are disclosed. A scan matching method according to an embodiment of the inventive concept includes receiving two point clouds, sequentially inspecting height values until a point is within a specific height range to search for correspondence points between the two point clouds, and performing scan matching between the two point clouds based on the search result of the correspondence points.

公开(公告)号：EP3112969A1

公开(公告)日：2017-01-04

申请号：EP16177023.5

申请日：2016-06-29

Applicant: Korea Advanced Institute of Science and Technology

Inventor： MYEONG, Hyeon ,  JUNG, Jong Dae

IPC: G05D1/02

CPC classification number: G01C21/005 ,  G05D1/0259 ,  G05D1/0274 ,  Y10S901/01

Abstract: A method and apparatus for relocation of a mobile robot is provided. The relocation method includes the steps of generating a fingerprint based on a previously built magnetic field map, and if the mobile robot is determined as being failed in localization, relocating a location of the mobile robot based on the generated location fingerprint. The step of generating the location fingerprint includes the step of generating the location fingerprint based on the magnetic field map and location measurement values for the mobile robot that are previously measured by a radio source.

Abstract translation: 提供了一种用于移动机器人的重定位的方法和装置。 重定位方法包括基于先前构建的磁场映射生成指纹的步骤，并且如果移动机器人被确定为定位失败，则基于所生成的位置指纹重新定位移动机器人的位置。 产生位置指纹的步骤包括基于先前由无线电源测量的移动机器人的磁场映射和位置测量值来生成位置指纹的步骤。