Method for self-localization of robot based on object recognition and environment information around recognized object
    3.
    发明授权
    Method for self-localization of robot based on object recognition and environment information around recognized object 有权
    基于对象识别和识别对象周围环境信息的机器人自定位方法

    公开(公告)号:US08024072B2

    公开(公告)日:2011-09-20

    申请号:US12292715

    申请日:2008-11-25

    Abstract: A method for self-localization of a robot, the robot including a camera unit, a database storing a map around a robot traveling path, and a position arithmetic unit estimating the position of the robot, includes: acquiring an image around the robot, in the camera unit. Further, the method includes recognizing, in the position arithmetic unit, an individual object in the image acquired by the camera unit, to generate position values on a camera coordinate system of local feature points of the individual objects and local feature points of a surrounding environment including the individual objects; and estimating, in the position arithmetic unit, the position of the robot on the basis of the map and the position values on the camera coordinate system of local feature points of the individual objects and local feature points of a surrounding environment including the individual objects.

    Abstract translation: 一种机器人自身定位的方法,包括相机单元的机器人,存储机器人行进路径周围的地图的数据库以及估计机器人的位置的位置运算单元,包括:在机器人周围获取图像, 相机单元。 此外,该方法包括在位置运算单元中识别由相机单元获取的图像中的单个对象,以在相机坐标系上生成各个对象的局部特征点和周围环境的局部特征点的位置值 包括个别物品; 以及在所述位置运算单元中,基于所述映射来估计所述机器人的位置,以及在包括所述各个对象的周围环境的各个对象和所述局部特征点的所述摄像机坐标系上的位置值。

    Method for self-localization of robot based on object recognition and environment information around recognized object
    4.
    发明申请
    Method for self-localization of robot based on object recognition and environment information around recognized object 有权
    基于对象识别和识别对象周围环境信息的机器人自定位方法

    公开(公告)号:US20090210092A1

    公开(公告)日:2009-08-20

    申请号:US12292715

    申请日:2008-11-25

    Abstract: A method for self-localization of a robot, the robot including a camera unit, a database storing a map around a robot traveling path, and a position arithmetic unit estimating the position of the robot, includes: acquiring an image around the robot, in the camera unit. Further, the method includes recognizing, in the position arithmetic unit, an individual object in the image acquired by the camera unit, to generate position values on a camera coordinate system of local feature points of the individual objects and local feature points of a surrounding environment including the individual objects; and estimating, in the position arithmetic unit, the position of the robot on the basis of the map and the position values on the camera coordinate system of local feature points of the individual objects and local feature points of a surrounding environment including the individual objects.

    Abstract translation: 一种机器人自身定位的方法,包括相机单元的机器人,存储机器人行进路径周围的地图的数据库以及估计机器人的位置的位置运算单元,包括:在机器人周围获取图像, 相机单元。 此外,该方法包括在位置运算单元中识别由相机单元获取的图像中的单个对象,以在相机坐标系上生成各个对象的局部特征点和周围环境的局部特征点的位置值 包括个别物品; 以及在所述位置运算单元中,基于所述映射来估计所述机器人的位置,以及在包括所述各个对象的周围环境的各个对象和所述局部特征点的所述摄像机坐标系上的位置值。

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