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公开(公告)号：US12001218B2
公开(公告)日：2024-06-04
申请号：US17055415
申请日：2019-06-21
Inventor： Soonhyuk Hong , Hyeon Myeong , Hyongjin Kim , Seungwon Song , Jieum Hyun
IPC: B25J9/16 , G05D1/00 , G06F16/901 , G06V10/80 , G06V20/10
CPC classification number: G05D1/0246 , B25J9/162 , G06F16/9024 , G06V10/803 , G06V20/10
Abstract: Provided are a mobile robot device and a control method thereof. The mobile robot device comprises: a driving unit; an image sensor; a plurality of geomagnetic sensors; a memory for storing at least one instruction; and a processor for executing at least one instruction, wherein the processor may obtain, while the mobile robot device moves by means of the driving unit, a plurality of image data through the image sensor and obtain sensing data through the plurality of geomagnetic sensors, extract a feature point from the plurality of image data and obtain key nodes on the basis of the feature point, obtain a node sequence on the basis of the sensing data, generate a graph structure that estimates a position of the mobile robot device on the basis of the key nodes and the node sequence, and correct the graph structure based on the mobile failing in position recognition.
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公开(公告)号：US20170048816A1
公开(公告)日：2017-02-16
申请号：US15153181
申请日：2016-05-12
Inventor： Hyeon Myeong , Taekjun Oh , Hyongjin Kim , Kwang-yik Jung
CPC classification number: H04L67/18 , G06T7/75 , G06T2200/04 , G06T2207/10028 , G06T2207/20072
Abstract: A method and apparatus for robust localization in outdoor environments is provided. The localization method includes the steps of receiving scanner data from localization means and receiving angle information of a mobile device from an angle sensor, correcting the scanner data based on the received angle information, performing an Iterative Closest Point (ICP) mechanism for the corrected scanner data and generating a first constraint, and localizing the mobile device based on a graph structure under the first constraint.
Abstract translation: 提供了一种在户外环境中稳健定位的方法和装置。 定位方法包括以下步骤：从定位装置接收扫描器数据并从角度传感器接收移动装置的角度信息，基于接收到的角度信息校正扫描器数据，对经校正的扫描器执行迭代最近点（ICP）机制 数据并产生第一约束，以及基于第一约束下的图形结构来定位移动设备。
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公开(公告)号：US09912764B2
公开(公告)日：2018-03-06
申请号：US15153181
申请日：2016-05-12
Inventor： Hyeon Myeong , Taekjun Oh , Hyongjin Kim , Kwang-yik Jung
CPC classification number: H04L67/18 , G06T7/75 , G06T2200/04 , G06T2207/10028 , G06T2207/20072
Abstract: A method and apparatus for robust localization in outdoor environments is provided. The localization method includes the steps of receiving scanner data from localization means and receiving angle information of a mobile device from an angle sensor, correcting the scanner data based on the received angle information, performing an Iterative Closest Point (ICP) mechanism for the corrected scanner data and generating a first constraint, and localizing the mobile device based on a graph structure under the first constraint.
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