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1.发明授权Mobile robot with single camera and method for recognizing 3D surroundings of the same 有权具有单摄像头的移动机器人和识别3D环境的方法公开(公告)号：US09060658B2
公开(公告)日：2015-06-23
申请号：US13262192
申请日：2010-03-12
Applicant: Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
Inventor： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
CPC classification number: A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
Abstract: Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
Abstract translation: 公开了具有能够对周围进行清洁处理的单个摄像机的移动机器人，并且能够更准确地制作包括多个特征点的周围环境的3D地图，以及用于识别其周围的3D环境的方法。 根据该方法，捕获周围的图像，并且基于从顺序捕获的两个图像中提取的特征点的匹配信息，将关于第一图像的特征点的预定数量的粒子投影到第二图像，从而提取 环境的3D信息。
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2.发明申请MOBILE ROBOT WITH SINGLE CAMERA AND METHOD FOR RECOGNIZING 3D SURROUNDINGS OF THE SAME 有权具有单个摄像机的移动机器人和用于识别其中的3D环绕的方法公开(公告)号：US20120019627A1
公开(公告)日：2012-01-26
申请号：US13262192
申请日：2010-03-12
Applicant: Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
Inventor： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
IPC: H04N13/02
CPC classification number: A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
Abstract: Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
Abstract translation: 公开了具有能够对周围环境进行清洁处理的单个摄像机的移动机器人，并且能够更准确地制作包括多个特征点的周围环境的3D地图，以及用于识别其中的3D环境的方法。 根据该方法，捕获周围的图像，并且基于从顺序捕获的两个图像中提取的特征点的匹配信息，将关于第一图像的特征点的预定数量的粒子投影到第二图像，从而提取 环境的3D信息。
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公开(公告)号：US08954191B2
公开(公告)日：2015-02-10
申请号：US12718380
申请日：2010-03-05
Applicant: Dong Hoon Yi , Young Gie Kim , Jeong Suk Yoon , Seong Soo Lee , Jei Hun Lee , Seung Min Baek , Yoo Jin Choi , Sang Ik Na , Su Uk Choe , Yie Bin Kim
Inventor： Dong Hoon Yi , Young Gie Kim , Jeong Suk Yoon , Seong Soo Lee , Jei Hun Lee , Seung Min Baek , Yoo Jin Choi , Sang Ik Na , Su Uk Choe , Yie Bin Kim
CPC classification number: G05D1/0274 , G05D1/0246 , G05D1/0255 , G05D2201/0203
Abstract: Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.
Abstract translation: 公开了一种移动机器人及其控制方法。 整个移动区域被划分为多个区域，并且通过使用分割区域的多个图像的特征点逐渐地进行部分地图。 然后，将地图补偿为闭合的曲线，从而制作整个地图。 此外，当移动机器人位于清洁区域的相邻区域的边界处，形成闭合曲线的边界时，移动机器人基于地图中包括的特征点之间的匹配结果来补偿其位置，以及 从清洁过程中捕获的图像中提取特征点。
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公开(公告)号：US20100228394A1
公开(公告)日：2010-09-09
申请号：US12718380
申请日：2010-03-05
Applicant: Dong Hoon YI , Young Gie KIM , Jeong Suk YOON , Seong Soo LEE , Jei Hun LEE , Seung Min BAEK , Yoo Jin CHOI , Sang IK NA , Su Uk CHOE , Yie Bin KIM
Inventor： Dong Hoon YI , Young Gie KIM , Jeong Suk YOON , Seong Soo LEE , Jei Hun LEE , Seung Min BAEK , Yoo Jin CHOI , Sang IK NA , Su Uk CHOE , Yie Bin KIM
CPC classification number: G05D1/0274 , G05D1/0246 , G05D1/0255 , G05D2201/0203
Abstract: Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.
Abstract translation: 公开了一种移动机器人及其控制方法。 整个移动区域被划分为多个区域，并且通过使用分割区域的多个图像的特征点逐渐地进行部分地图。 然后，将地图补偿为闭合的曲线，从而制作整个地图。 此外，当移动机器人位于清洁区域的相邻区域的边界处，形成闭合曲线的边界时，移动机器人基于地图中包括的特征点之间的匹配结果来补偿其位置，以及 从清洁过程中捕获的图像中提取特征点。
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