Method for self-localization of a robot based on object recognition and environment information around the recognized object

摘要

The present invention moves the robot to the reference coordinates of the robot method itself for estimating (estimation) the self-location within a given operating environment, in more detail the mobile robot to recognize individual objects within the environment by the vision sensor, and it is analyzed based on the (three-dimensional) map information given environment including the recognized object and the recognized object (map) relates to a method for estimating (estimation) of the self-position. ; In the present invention, the camera unit formed of a stereo imaging device, and a map around the robot movement paths stored database unit, by using the image information obtained from the camera module including a position calculation for estimating the self-position in the self-position estimation method of the robot, and the step of obtaining an image around the robot from the camera module; And the step of recognizing the individual objects within the camera image obtained in the position calculating portion, and generates the local feature point and the camera coordinate system of the localized feature point position value of the surrounding environment, including the individual objects of an individual object; The self-position estimation method of a robot comprising a third step of estimating the position of the robot in the position calculation on the basis of the map and the result of the second stage stored in the database unit is presented.