ROBOT AND A CONTROL METHOD THEREOF TO EXTRACT AN IMAGE PATCH CONVERTED INTO A REFERENCE IMAGE AND REMOVE AN ERROR IN THE THREE-DIMENSIONAL DISTANCE BETWEEN A CAMERA AND FEATURE POINTS

摘要

PURPOSE: A robot and a control method thereof are provided to carry out accurate position recognition and mapping SLAM(Simultaneous Localization And Map-building) by employing a three-dimensional surface matching method for matching three-dimensional surface information of an image patch through ICP(Iterative Closest Point) algorithm.;CONSTITUTION: A control method of a robot is as follows. A three-dimensional image about an environment where the robot moves is obtained(100). Feature points are extracted from the three-dimensional image and a plane including the feature points is transformed to reference images(102,104,106). Image patches are extracted from the reference images and matched(108).;COPYRIGHT KIPO 2010