公开(公告)号：US11226629B2

公开(公告)日：2022-01-18

申请号：US16550804

申请日：2019-08-26

Applicant: LG ELECTRONICS INC.

Inventor： Seungchul Kwak ,  Jeongwoo Ju

IPC: G05D1/02 ,  G06K9/00 ,  G06T7/73 ,  A47L11/40 ,  A47L9/28

Abstract: Disclosed is a robot and a control method thereof. The robot includes: a camera configured to acquire a depth image of a specific area; a processor configured to create an elevation map for the specific area based on the depth image, and determine whether a head of a person is in the specific area based on the elevation map. The processor, when determining whether the head of the person is in the specific area, is further configured to partition pixels of the elevation map into floor pixels corresponding to a floor area and non-floor pixels corresponding to a non-floor area using elevation values of the elevation map, set paths through the elevation map with a subset of the non-floor pixels as starting points for the paths, and determine whether the head of the person is in the specific area based on whether the paths converge.