公开(公告)号：US11801604B2

公开(公告)日：2023-10-31

申请号：US16652401

申请日：2019-05-08

Applicant: LG ELECTRONICS INC.

Inventor： Dong-Hoon Yi ,  Jaewon Chang

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  B25J19/04 ,  A47L9/00 ,  B25J11/00

CPC classification number: B25J9/1697 ,  B25J9/161 ,  B25J9/1664 ,  B25J9/1684 ,  B25J13/08 ,  B25J19/021 ,  B25J19/04 ,  A47L9/009 ,  A47L2201/04 ,  B25J11/0085

Abstract: The present invention relates to a robot and method for estimating an orientation on the basis of a vanishing point in a low-luminance image, and the robot for estimating an orientation on the basis of a vanishing point in a low-luminance image according to an embodiment of the present invention includes a camera unit configured to capture an image of at least one of a forward area and an upward area of the robot and an image processor configured to extract line segments from a first image captured by the camera unit by applying histogram equalization and a rolling guidance filter to the first image, calculate a vanishing point on the basis of the line segments, and estimate a global angle of the robot corresponding to the vanishing point.