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APPARATUS, METHOD, AND MEDIUM FOR DIVIDING REGIONS BY USING FEATURE POINTS AND MOBILE ROBOT USING THE SAME
APPARATUS, METHOD, AND MEDIUM FOR DIVIDING REGIONS BY USING FEATURE POINTS AND MOBILE ROBOT USING THE SAME
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机译:用于通过使用特征点和用于移动机器人的区域来划分区域的装置,方法和介质
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摘要
An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pair of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map.
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