SELF POSITION ESTIMATION METHOD AND APPARATUS OF A MOBILE ROBOT USING A VISION SENSOR

摘要

PURPOSE: A self position estimation method and apparatus of a mobile robot are provided to implement reliable position estimation using an inexpensive camera.;CONSTITUTION: A self position estimation method of a mobile robot is as follows. An image is obtained through a camera of the robot(610). Feature points are extracted from the image through SIFT(Scale Invariant Feature Transform) algorithm(620). The feature points in a three-dimensional map composed of the extracted feature points and the previously extracted feature points are compared together in order to detect three or more pairs of feature points(630,640). The position of the robot is estimated based on the coordinates of the detected feature points on the three-dimensional map, the coordinates of the image, and the focal distance of the camera(660).;COPYRIGHT KIPO 2011