METHOD FOR A DETECTING POSITION OF A ROBOT, CAPABLE OF DETECTING THE CURRENT POSITION OF A ROBOT WHEN A ROBOT IS BOUNCED BY A COLLISION WITH AN OBSTACLE

摘要

PURPOSE: A method for a detecting position of a robot is provided to detect the current position of a robot in kidnapping, by an angle of a feature point of a current image.;CONSTITUTION: A method for a detecting position of a robot comprises the following steps. An image from a camera is inputted during traveling of a robot(S200, S206). The feature point of a current image and the featured point of a previous image are compared and matched feature points are searched(S210,S212). The feature point which is not matched is saved in a first database and a camera angle which takes unmatched feature point is saved in a second database, if the matched feature point exists(S214,S216,S222). The feature point of the current image is searched in the featured points in the second database, if the matched feature point does not exist(S218,S230). A current position of the robot is calculated by the angle of the camera which takes the featured point and the object distance of a camera for the feature point(S236).;COPYRIGHT KIPO 2010