公开(公告)号：US20240419182A1

公开(公告)日：2024-12-19

申请号：US18702481

申请日：2022-09-02

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Su Yong AN

IPC: G05D1/246 ,  G05D1/648 ,  G05D111/10

Abstract: A method for global localization of a mobile robot is disclosed. The method compares a histogram value, obtained by quantifying geometric and structural features of each query submap image divided from a global map image, with geometric and structural features of submap images stored in a database to select a submap image which is the most similar to a query submap image, and performs the global localization of the mobile robot, based on coordinate information included in the selected submap image.

公开(公告)号：US20250036141A1

公开(公告)日：2025-01-30

申请号：US18714082

申请日：2022-10-24

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Su Yong AN

IPC: G05D1/661 ,  G01S17/89 ,  G05D111/10 ,  G06V10/25

Abstract: Provided are an apparatus and method for rail detection and control of a motion of a mobile robot for safely switching driving of the mobile robot between a flat area and a rail area in an environment in a greenhouse in which a rail is provided for pipe heating. For more accurate rail detection, accurate three-dimensional (3D) point cloud data is obtained using a tilting laser scanner and is analyzed to detect a position of the rail and control a motion of a mobile robot for rail docking. The apparatus includes a sensor configured to be mounted in a mobile robot, and a rail detection unit configured to obtain 3D point cloud data using the sensor and detect the 3D point cloud data.

公开(公告)号：US20210278848A1

公开(公告)日：2021-09-09

申请号：US17188688

申请日：2021-03-01

Applicant: Electronics and Telecommunications Research Institute

Inventor： Su Yong AN ,  Hea-Min LEE ,  Dongyeop KANG ,  Wookyong KWON ,  Song LI ,  Ki Young MOON ,  Yun Su CHUNG

IPC: G05D1/02 ,  G05D1/00 ,  G01S17/89

Abstract: A method and an apparatus for recognition a position and generating a path for autonomous driving of a mobile robot in an orchard environment are provided. The method converts three-dimensional (3D) point cloud data for the orchard environment into a 2D grid map, obtains a position of the mobile robot by performing local scan matching and global scan matching on the 2D grid map, and extracts a tree from the 2D grid map based on occupancy of each grid of the 2D grid map. Then, an effective line based on center points of extracted trees is obtained, a destination based on the obtained effective line is generated, and a driving path according to the generated destination and the position of the mobile robot is generated.