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1. 发明申请

US20090276092A1 Robot and method of building map therefor 有权
标题翻译：机器人和建立地图的方法
公开(公告)号：US20090276092A1
公开(公告)日：2009-11-05
申请号：US12289274
申请日：2008-10-23
申请人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
发明人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
IPC分类号： G06F19/00
CPC分类号： B25J9/1666 , G05B2219/40442
摘要： Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.
摘要翻译：公开了一种机器人，其使用去除了动态障碍物的三维图像的表面数据构建地图以及用于构建机器人的地图的方法。该方法包括顺序地获取机器人移动的路线的第一和第二表面数据; 将第一和第二表面数据彼此匹配以计算第一和第二表面数据之间的差异; 根据第一和第二表面数据之间的差异，从第一和第二表面数据中检测动态障碍物; 通过从第一和第二表面数据中的至少一个去除动态障碍物来产生第三表面数据; 并且将第三表面数据和第一和第二表面数据中的任何一个彼此匹配以构建地图。

2. 发明授权

US08315737B2 Apparatus for locating moving robot and method for the same 有权
标题翻译：用于定位移动机器人的装置及其方法
公开(公告)号：US08315737B2
公开(公告)日：2012-11-20
申请号：US12379433
申请日：2009-02-20
申请人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
发明人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
IPC分类号： G05B19/18
CPC分类号： G05D1/027 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0203
摘要： An apparatus and a method of locating a moving robot are disclosed. The apparatus includes a storage unit storing information on straight lines of wall on a map, a state quantity detection unit detecting quantity of state of the robot running along the wall, and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information.
摘要翻译：公开了一种定位移动机器人的装置和方法。该装置包括存储单元，其存储在地图上的直线上的信息，状态量检测单元检测沿壁行进的机器人的状态量，以及控制单元，通过获得直线信息来估计机器人的内部位置基于检测到的状态量，并将获得的直线信息与所存储的直线信息进行匹配。

3. 发明申请

US20090292394A1 Apparatus for locating moving robot and method for the same 有权
标题翻译：用于定位移动机器人的装置及其方法
公开(公告)号：US20090292394A1
公开(公告)日：2009-11-26
申请号：US12379433
申请日：2009-02-20
申请人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
发明人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
IPC分类号： G05B19/04
CPC分类号： G05D1/027 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0203
摘要： An apparatus and a method of locating a moving robot are disclosed. The apparatus includes a storage unit storing information on straight lines of wall on a map, a state quantity detection unit detecting quantity of state of the robot running along the wall, and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information.
摘要翻译：公开了一种定位移动机器人的装置和方法。该装置包括存储单元，其存储在地图上的直线上的信息，状态量检测单元检测沿壁行进的机器人的状态量，以及控制单元，通过获得直线信息来估计机器人的内部位置基于检测到的状态量，并将获得的直线信息与所存储的直线信息进行匹配。

4. 发明授权

US08761925B2 Robot and method of building map therefor 有权
标题翻译：机器人和建立地图的方法
公开(公告)号：US08761925B2
公开(公告)日：2014-06-24
申请号：US12289274
申请日：2008-10-23
申请人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
发明人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
IPC分类号： G06F19/00
CPC分类号： B25J9/1666 , G05B2219/40442
摘要： Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.
摘要翻译：公开了一种机器人，其使用去除了动态障碍物的三维图像的表面数据构建地图以及用于构建机器人的地图的方法。该方法包括顺序地获取机器人移动的路线的第一和第二表面数据; 将第一和第二表面数据彼此匹配以计算第一和第二表面数据之间的差异; 根据第一和第二表面数据之间的差异，从第一和第二表面数据中检测动态障碍物; 通过从第一和第二表面数据中的至少一个去除动态障碍物来产生第三表面数据; 并且将第三表面数据和第一和第二表面数据中的任何一个彼此匹配以构建地图。

5. 发明申请

US20100040279A1 METHOD AND APPARATUS TO BUILD 3-DIMENSIONAL GRID MAP AND METHOD AND APPARATUS TO CONTROL AUTOMATIC TRAVELING APPARATUS USING THE SAME 有权
标题翻译：构建三维网格地图的方法和装置以及使用该方法和装置控制自动旅行装置的方法
公开(公告)号：US20100040279A1
公开(公告)日：2010-02-18
申请号：US12411446
申请日：2009-03-26
申请人： Sukjune Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim
发明人： Sukjune Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim
IPC分类号： G06K9/00
CPC分类号： G05D1/0251 , G05D1/0274 , G05D2201/0207 , G06T7/593 , G06T2207/30252 , G09B25/06
摘要： A method and apparatus to build a 3-dimensional grid map and a method and apparatus to control an automatic traveling apparatus using the same. In building a 3-dimensional map to discern a current location and a peripheral environment of an unmanned vehicle or a mobile robot, 2-dimensional localization and 3-dimensional image restoration are appropriately used to accurately build the 3-dimensional grid map more rapidly.
摘要翻译：一种构建3维网格图的方法和装置，以及使用该方法和装置控制自动行进装置的方法和装置。在建立三维地图以辨别无人驾驶车辆或移动机器人的当前位置和周边环境时，二维定位和三维图像恢复被适当地用于更快地准确地构建三维网格图。

6. 发明授权

US08571302B2 Method and apparatus to build 3-dimensional grid map and method and apparatus to control automatic traveling apparatus using the same 有权
标题翻译：构建三维网格图的方法和装置以及使用该方法和装置来控制自动行进装置的方法和装置
公开(公告)号：US08571302B2
公开(公告)日：2013-10-29
申请号：US12411446
申请日：2009-03-26
申请人： Sukjune Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim
发明人： Sukjune Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim
IPC分类号： G06K9/00
CPC分类号： G05D1/0251 , G05D1/0274 , G05D2201/0207 , G06T7/593 , G06T2207/30252 , G09B25/06
摘要： A method and apparatus to build a 3-dimensional grid map and a method and apparatus to control an automatic traveling apparatus using the same. In building a 3-dimensional map to discern a current location and a peripheral environment of an unmanned vehicle or a mobile robot, 2-dimensional localization and 3-dimensional image restoration are appropriately used to accurately build the 3-dimensional grid map more rapidly.
摘要翻译：一种构建3维网格图的方法和装置，以及使用该方法和装置控制自动行进装置的方法和装置。在建立三维地图以辨别无人驾驶车辆或移动机器人的当前位置和周边环境时，二维定位和三维图像恢复被适当地用于更快地准确地构建三维网格图。

7. 发明申请

US20100172571A1 Robot and control method thereof 有权
标题翻译：机器人及其控制方法
公开(公告)号：US20100172571A1
公开(公告)日：2010-07-08
申请号：US12654160
申请日：2009-12-11
申请人： Suk June Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Sung Hwan Ahn
发明人： Suk June Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Sung Hwan Ahn
IPC分类号： G06K9/00
CPC分类号： G06T7/248 , G06T7/55 , G06T2207/10016 , G06T2207/10028
摘要： Disclosed herein are a feature point used to localize an image-based robot and build a map of the robot and a method of extracting and matching an image patch of a three-dimensional (3D) image, which is used as the feature point. It is possible to extract the image patch converted into the reference image using the position information of the robot and the 3D position information of the feature point. Also, it is possible to obtain the 3D surface information with the brightness values of the image patches to obtain the match value with the minimum error by a 3D surface matching method of matching the 3D surface information of the image patches converted into the reference image through the ICP algorithm.
摘要翻译：这里公开的是用于本地化基于图像的机器人并构建机器人的映射的特征点以及用于提取和匹配用作特征点的三维（3D）图像的图像块的方法。可以使用机器人的位置信息和特征点的3D位置信息来提取转换为参考图像的图像块。另外，可以利用图像斑块的亮度值获得3D表面信息，以通过3D图像匹配方法获得具有最小误差的匹配值，该3D表面匹配方法将经过参考图像转换成参考图像的图像斑块的3D表面信息匹配 ICP算法。

8. 发明授权

US08824775B2 Robot and control method thereof 有权
标题翻译：机器人及其控制方法
公开(公告)号：US08824775B2
公开(公告)日：2014-09-02
申请号：US12654160
申请日：2009-12-11
申请人： Suk June Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Sung Hwan Ahn
发明人： Suk June Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Sung Hwan Ahn
IPC分类号： G06K9/00
CPC分类号： G06T7/248 , G06T7/55 , G06T2207/10016 , G06T2207/10028
摘要： Disclosed herein are a feature point used to localize an image-based robot and build a map of the robot and a method of extracting and matching an image patch of a three-dimensional (3D) image, which is used as the feature point. It is possible to extract the image patch converted into the reference image using the position information of the robot and the 3D position information of the feature point. Also, it is possible to obtain the 3D surface information with the brightness values of the image patches to obtain the match value with the minimum error by a 3D surface matching method of matching the 3D surface information of the image patches converted into the reference image through the ICP algorithm.
摘要翻译：这里公开的是用于本地化基于图像的机器人并构建机器人的映射的特征点以及用于提取和匹配用作特征点的三维（3D）图像的图像块的方法。可以使用机器人的位置信息和特征点的3D位置信息来提取转换为参考图像的图像块。另外，可以利用图像斑块的亮度值获得3D表面信息，以通过3D图像匹配方法获得具有最小误差的匹配值，该3D表面匹配方法通过匹配转换成参考图像的图像斑块的3D表面信息 ICP算法。

9. 发明授权

US09110472B2 Moving robot and method to build map for the same 有权
标题翻译：移动机器人和方法构建地图相同
公开(公告)号：US09110472B2
公开(公告)日：2015-08-18
申请号：US13236050
申请日：2011-09-19
申请人： Sung Hwan Ahn , Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon
发明人： Sung Hwan Ahn , Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , G05D1/0242 , G05D2201/0217
摘要： A moving robot and a method to build a map for the same, wherein a 3D map for an ambient environment of the moving robot may be built using a Time of Flight (TOF) camera that may acquire 3D distance information in real time. The method acquires 3D distance information of an object present in a path along which the moving robot moves, accumulates the acquired 3D distance information to construct a map of a specific level and stores the map in a database, and then hierarchically matches maps stored in the database to build a 3D map for a set space. This method may quickly and accurately build a 3D map for an ambient environment of the moving robot.
摘要翻译：一种移动机器人和用于构建其的地图的方法，其中可以使用可以实时获取3D距离信息的飞行时间（TOF）相机来构建移动机器人的周围环境的3D地图。该方法获取存在于移动机器人移动的路径中的对象的3D距离信息，累积获取的3D距离信息以构建特定级别的地图，并将该地图存储在数据库中，然后分层地匹配存储在数据库构建一个集合空间的3D地图。该方法可以快速且准确地构建移动机器人的周围环境的3D地图。

10. 发明授权

US08737686B2 3D object tracking method and apparatus 有权
标题翻译： 3D物体跟踪方法和装置
公开(公告)号：US08737686B2
公开(公告)日：2014-05-27
申请号：US13204888
申请日：2011-08-08
申请人： Suk June Yoon , Kyung Shik Roh , Won Jun Hwang , Seung Yong Hyung , Sung Hwan Ahn
发明人： Suk June Yoon , Kyung Shik Roh , Won Jun Hwang , Seung Yong Hyung , Sung Hwan Ahn
IPC分类号： G06K9/00
CPC分类号： G06T7/251
摘要： A 3D object tracking method and apparatus in which a model of an object to be tracked is divided into a plurality of polygonal planes and the object is tracked using texture data of the respective planes and geometric data between the respective planes to enable more precise tracking. The 3D object tracking method includes modeling the object to be tracked to generate a plurality of planes, and tracking the plurality of planes, respectively. The modeling of the object includes selecting points from among the plurality of planes, respectively, and calculating projective invariants using the selected points.
摘要翻译：一种3D对象跟踪方法和装置，其中要跟踪的对象的模型被划分为多个多边形平面，并且使用各个平面之间的纹理数据和各个平面之间的几何数据来跟踪对象，以使得能够进行更精确的跟踪。 3D对象跟踪方法包括对要跟踪的对象进行建模以生成多个平面，并分别跟踪多个平面。对象的建模分别包括从多个平面中选择点，并使用所选择的点来计算投影不变量。

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