ADoG APPARATUS FOR RECOGNIZING LOCATION MOBILE ROBOT USING KEY POINT BASED ON ADoG AND METHOD THEREOF

摘要

An apparatus and method for recognizing the position of a mobile robot using ADoG-based feature points according to the present invention are disclosed. An apparatus for recognizing a position of a mobile robot according to the present invention includes two cameras for acquiring a pair of stereo images of a region of interest including a vertical direction and a horizontal direction as the mobile robot operates; And a smoothing unit for smoothing the acquired stereo image, smoothing the obtained smoothing image to obtain a smoothing image, comparing the smoothed image with the original stereo image to extract an edge, and estimating a current position based on the extracted edge And a recognition unit.