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DEVICE FOR CONTROLLING DRIVING OF MOBILE ROBOT HAVING WIDE-ANGLE CAMERAS MOUNTED THEREON, AND METHOD THEREFOR
DEVICE FOR CONTROLLING DRIVING OF MOBILE ROBOT HAVING WIDE-ANGLE CAMERAS MOUNTED THEREON, AND METHOD THEREFOR
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机译:控制安装有广角摄像机的移动机器人的驱动装置及其方法
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摘要
Disclosed are an apparatus for controlling movement of a mobile robot mounted with a wide angle camera and a method thereof. An apparatus of recognizing a position of a mobile robot includes two wide angle cameras which obtain one pair of stereo images on a region of interest including a vertical direction and a horizontal direction in accordance with movement of a mobile robot; an inertial measurement unit (IMU) which obtains inertial information of a mobile robot; a position recognizing unit which predicts state information using one between first odometry information calculated based on at least one pair of stereo images and second odometry information calculated based on the inertial information and estimates a current position using the predicted state information and a previously stored key frame, by a position recognizing unit; and a movement control unit which controls movement of the mobile robot based on the estimated position.
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