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1.发明申请公开(公告)号：US20210011135A1
公开(公告)日：2021-01-14
申请号：US16918736
申请日：2020-07-01
Inventor： Yu-Cheol LEE , Won-Pil YU
IPC: G01S7/481 , G01S17/931 , G05D1/02
Abstract: Disclosed herein is a method for detecting laser reflectors for mobile robot localization. The method includes collecting scan information data corresponding to positions of surrounding objects using a laser scanner mounted on a mobile robot; generating a reflector cluster based on reflection intensities of the scan information data; classifying the reflector cluster into individual reflector clusters, each of the individual reflector clusters corresponding to each of the laser reflectors; determining whether each of the individual reflector clusters is a valid individual reflector cluster corresponding to an actual individual laser reflector or not based on geometric filtering on die each of the individual reflector clusters; and calculating position of the actual individual laser reflector based on at least one of the scan information data corresponding to the valid individual reflector cluster.
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公开(公告)号：US20190310653A1
公开(公告)日：2019-10-10
申请号：US16374033
申请日：2019-04-03
Inventor： Yu-Cheol LEE , Won-Pil YU , Song LI
Abstract: Disclosed herein are an apparatus and method for generating a topological map for navigation of a robot. The method for generating a topological map for navigation of a robot, performed by the apparatus for building the topological map for the navigation of the robot, includes calculating the physical size of a single pixel on a metric map of a space in which a mobile robot is to navigate, extracting the physical coordinates of the pixel on the metric map, building node data and edge data for the navigation of the mobile robot using the physical coordinates, and generating a topological map for the navigation of the mobile robot based on the built node data and the built edge data.
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