IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0411446
(2009-03-26)
|
등록번호 |
US-8571302
(2013-10-29)
|
우선권정보 |
KR-10-2008-0078692 (2008-08-12) |
발명자
/ 주소 |
- Yoon, Sukjune
- Roh, Kyung Shik
- Kwon, Woong
- Hyung, Seung Yong
- Kim, Hyun Kyu
|
출원인 / 주소 |
- Samsung Electronics Co., Ltd
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
0 인용 특허 :
3 |
초록
▼
A method and apparatus to build a 3-dimensional grid map and a method and apparatus to control an automatic traveling apparatus using the same. In building a 3-dimensional map to discern a current location and a peripheral environment of an unmanned vehicle or a mobile robot, 2-dimensional localizat
A method and apparatus to build a 3-dimensional grid map and a method and apparatus to control an automatic traveling apparatus using the same. In building a 3-dimensional map to discern a current location and a peripheral environment of an unmanned vehicle or a mobile robot, 2-dimensional localization and 3-dimensional image restoration are appropriately used to accurately build the 3-dimensional grid map more rapidly.
대표청구항
▼
1. A method to build a 3-dimensional grid map, comprising: acquiring one or more peripheral omni-directional images captured at different locations using first and second cameras of a stereo omni-directional camera;confirming a current 2-dimensional location using the acquired one or more peripheral
1. A method to build a 3-dimensional grid map, comprising: acquiring one or more peripheral omni-directional images captured at different locations using first and second cameras of a stereo omni-directional camera;confirming a current 2-dimensional location using the acquired one or more peripheral omni-directional images;generating a disparity map of the acquired one or more peripheral omni-directional images;performing 3-dimensional restoration of the acquired one or more peripheral omni-directional images by using a brightness information of the disparity map; andbuilding the 3-dimensional grid map of the periphery of the stereo omni-directional camera by combining a result of the 2-dimensional localization and a result of the 3-dimensional restoration,wherein a degree of occupation of a 3-dimensional grid is obtained using a result of the 3-dimensional restoration, andwherein if a count occupied by a voxel of the 3-dimensional grid exceeds a prescribed number, a corresponding voxel is determined to be occupied. 2. The method according to claim 1, wherein the confirming of a 2-dimensional location is performed through 2-dimensional localization and mapping using the omni-directional image. 3. The method according to claim 2, wherein the confirming of a 2-dimensional location is performed using feature points on an epipolar line of the omni-directional image. 4. The method according to claim 3, wherein the feature points are obtained by extracting a color edge. 5. The method of claim 1, further comprising determining a distance between at least one object included in the images and the stereo omni-directional camera is based on brightness information. 6. The method of claim 1, wherein the performing 3-dimensional restoration includes extracting a 3-dimensional coordinate of the omni-directional image based on a first azimuth of the omni-directional image with respect to the first camera and a second azimuth of the omni-directional image with respect to the second camera. 7. A method to control an automatic traveling apparatus, comprising: acquiring one or more peripheral omni-directional images captured at different locations using first and second cameras of a stereo omni-directional camera;confirming a current 2-dimensional location using the acquired one or more peripheral omni-directional images;generating a disparity map of the acquired one or more peripheral omni-directional images;performing 3-dimensional restoration of the acquired one or more peripheral omni-directional images by using a brightness information of the disparity map;building a 3-dimensional grid map of the periphery of the stereo omni-directional camera by combining a result of the 2-dimensional localization and a result of the 3-dimensional restoration;determining a traveling path to a target point from a current location based on the 3-dimensional restoration; andcontrolling the automatic traveling apparatus to travel to the target point along the traveling path,wherein a degree of occupation of a 3-dimensional grid is obtained using a result of the 3-dimensional restoration, andwherein if a count occupied by a voxel of the 3-dimensional grid exceeds a prescribed number, a corresponding voxel is determined to be occupied. 8. The method according to claim 7, wherein the confirming of a 2-dimensional location is performed through 2-dimensional localization and mapping using the omni-directional image. 9. The method according to claim 8, wherein the confirming of a 2-dimensional location is performed using feature points on an epipolar line of the omni-directional image. 10. The method according to claim 8, wherein the feature points are obtained by extracting a color edge. 11. A non-transitory computer readable medium to contain computer-readable codes as a program to perform a method to build a 3-dimensional grid map, the method comprising: acquiring one or more peripheral omni-directional images captured at different locations using first and second cameras of a stereo omni-directional camera;generating a disparity map of the acquired one or more peripheral omni-directional images;performing 3-dimensional restoration of the acquired one or more peripheral omni-directional images by using a brightness information of the disparity map;performing 3-dimensional restoration of the acquired one or more peripheral omni-directional images; andbuilding the 3-dimensional grid map of the periphery of the stereo omni-directional camera by combining a result of the 2-dimensional localization and a result of the 3-dimensional restoration,wherein a degree of occupation of a 3-dimensional grid is obtained using a result of the 3-dimensional restoration, andwherein if a count occupied by a voxel of the 3-dimensional grid exceeds a prescribed number, a corresponding voxel is determined to be occupied. 12. An apparatus to build a 3-dimensional grid map, comprising: a camera to acquire one or more peripheral omni-directional images captured at different locations using first and second cameras of a stereo omni-directional camera; anda controller to confirm a current 2-dimensional location using the acquired one or more peripheral omni-directional images, to generate a disparity map of the acquired one or more peripheral omni-directional images, to perform 3-dimensional restoration of the acquired one or more peripheral omni-directional images by using a brightness information of the disparity map, and to build the 3-dimensional grid map of the periphery of the stereo omni-directional camera by combining a result of the 2-dimensional localization and a result of the 3-dimensional restoration,wherein a degree of occupation of a 3-dimensional grid is obtained using a result of the 3-dimensional restoration, andwherein if a count occupied by a voxel of the 3-dimensional grid exceeds a prescribed number, a corresponding voxel is determined to be occupied. 13. The apparatus of claim 12, wherein the controller determines a distance between at least one object included in the images and the stereo omni-directional camera based on a brightness of the at least one object. 14. A traveling apparatus to move along a path, comprising: a controller to receive one or more peripheral omni-directional images captured at different locations from first and second cameras of a stereo omni-directional camera, to confirm a current 2-dimensional location using the received one or more peripheral omni-directional images, to generate a disparity map of the acquired one or more peripheral omni-directional images, to perform 3-dimensional restoration of the acquired one or more peripheral omni-directional images by using a brightness information of the disparity map, and to build the 3-dimensional grid map of the periphery of the stereo omni-directional camera by combining a result of the 2-dimensional localization and a result of the 3-dimensional restoration; anda moving device to move a body of the traveling apparatus according to a traveling path with respect to the 3-dimential grid map,wherein a degree of occupation of a 3-dimensional grid is obtained using a result of the 3-dimensional restoration, andwherein if a count occupied by a voxel of the 3-dimensional grid exceeds a prescribed number, a corresponding voxel is determined to be occupied. 15. A method to build a 3-dimensional grid map, comprising: generating a current 2-dimensional location using one or more omni-directional images captured at different locations using first and second cameras of a stereo omni-directional camera;generating a disparity map of the acquired one or more peripheral omni-directional images;performing a 3-dimensional restoration of the captured received one or more peripheral omni-directional images by using a brightness information of the disparity map; andbuilding the 3-dimensional grid map by combining a result of the 2-dimensional localization and a result of the 3-dimensional restoration,wherein a degree of occupation of a 3-dimensional grid is obtained using a result of the 3-dimensional restoration, andwherein if a count occupied by a voxel of the 3-dimensional grid exceeds a prescribed number, a corresponding voxel is determined to be occupied.
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