公开(公告)号：US20130166137A1

公开(公告)日：2013-06-27

申请号：US13723459

申请日：2012-12-21

Applicant: Samsung Electronics Co., Ltd.

Inventor： Sung Hwan AHN ,  No San Kwak ,  Kyung Shik Roh ,  Suk June Yoon ,  Seung Yong Hyung

IPC: G06F11/30

CPC classification number: G06F11/30 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0217 ,  G06F11/3013 ,  G06F11/3058

Abstract: A mobile apparatus and a localization method thereof which perform localization of the mobile apparatus using a distributed filter system including a plurality of local filters independently operated and one fusion filter integrating results of localization performed through the respective local filters, and additionally apply accurate topological absolute position information to the distributed filter system to improve localization performance (accuracy, convergence and speed in localization, etc.) of the mobile apparatus on a wide space. The mobile apparatus includes at least one sensor, at least one first distribution filter generating current relative position information using a value detected by the at least one sensor, at least one second distribution filter generating current absolute position information using the value detected by the at least one sensor, and a fusion filter integrating the relative position information and the absolute position information to perform localization.

Abstract translation: 一种移动装置及其定位方法，其使用包括独立操作的多个局部滤波器的分布式滤波器系统来执行移动装置的定位，并且一个融合滤波器集成通过各个局部滤波器执行的定位结果，并且另外应用精确的拓扑绝对位置 向分布式滤波器系统提供信息，从而在宽广的空间上提高移动设备的定位性能（定位精度，收敛速度和定位速度等）。 所述移动装置包括至少一个传感器，至少一个第一分布滤波器，使用由所述至少一个传感器检测的值产生电流相对位置信息;至少一个第二分布滤波器，使用至少由所述至少一个传感器检测的值产生当前绝对位置信息 一个传感器，以及集成了相对位置信息和绝对位置信息以进行定位的融合滤波器。

公开(公告)号：US20130163853A1

公开(公告)日：2013-06-27

申请号：US13723540

申请日：2012-12-21

Applicant: Samsung Electronics Co., Ltd.

Inventor： No San KWAK ,  Kyung Shik Roh ,  Sung Hwan Ahn ,  Suk June Yoon ,  Seung Yong Hyung

IPC: G06T7/00

CPC classification number: G06T7/0042 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20164 ,  G06T2207/30244 ,  Y10S901/47

Abstract: A method for estimating a location of a device uses a color image and a depth image. The method includes matching the color image to the depth image, generating a 3D reference image based on the matching, generating a 3D object image based on the matching, extracting a 2D reference feature point from the reference image, extracting a 2D reference feature point from the object image, matching the extracted reference feature point from the reference image to the extracted reference feature point from the object image, extracting a 3D feature point from the object image using the matched 2D reference feature point, and estimating the location of the device based on the extracted 3D feature point.

Abstract translation: 用于估计设备的位置的方法使用彩色图像和深度图像。 该方法包括将彩色图像与深度图像进行匹配，基于匹配生成3D参考图像，基于匹配生成3D对象图像，从参考图像中提取2D参考特征点，从参考图像中提取2D参考特征点 所述对象图像将所提取的参考特征点与所述参考图像相对于所提取的参考特征点与所述对象图像匹配，使用所述匹配的2D参考特征点从所述对象图像提取3D特征点，以及基于所述对象图像的位置估计 在提取的3D特征点上。

公开(公告)号：US20130089235A1

公开(公告)日：2013-04-11

申请号：US13645860

申请日：2012-10-05

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Suk June YOON ,  Kyung Shik Roh ,  Sang Il Hong ,  Seung Yong Hyung ,  Hyo Seok Hwang ,  Sung Hwan Ahn

IPC: G06K9/00

CPC classification number: G06K9/00664 ,  G06K9/4671

Abstract: A method of controlling a mobile apparatus includes acquiring a first original image and a second original image, extracting a first feature point of the first original image and a second feature point of the second original image, generating a first blurring image and a second blurring image by blurring the first original image and the second original image, respectively, calculating a similarity between at least two images of the first original image, the second original image, the first blurring image, and the second blurring image, determining a change in scale of the second original image based on the calculated similarity, and controlling at least one of an object recognition and a position recognition by matching the second feature point of the second original image to the first feature point of the first original image based on the change in scale.

Abstract translation: 一种控制移动装置的方法包括获取第一原始图像和第二原始图像，提取第一原始图像的第一特征点和第二原始图像的第二特征点，生成第一模糊图像和第二模糊图像 通过分别模糊第一原始图像和第二原始图像，计算第一原始图像，第二原始图像，第一模糊图像和第二模糊图像的至少两个图像之间的相似度，确定第一原始图像和第二原始图像的尺度变化 基于所计算出的相似度的第二原始图像，并且基于尺度变化将第二原始图像的第二特征点与第一原始图像的第一特征点进行匹配来控制对象识别和位置识别中的至少一个 。