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1. 发明授权

US08903160B2 Apparatus and method with traveling path planning 有权
标题翻译：具有行驶路径规划的装置和方法
公开(公告)号：US08903160B2
公开(公告)日：2014-12-02
申请号：US12926526
申请日：2010-11-23
申请人： Woo-Yeon Jeong , Jun-Ho Park
发明人： Woo-Yeon Jeong , Jun-Ho Park
IPC分类号： G06K9/00 , G06T7/00 , G05D1/02
CPC分类号： G06K9/00791 , G05D1/0219 , G05D1/0246 , G05D1/0272 , G05D2201/0203 , G06K9/00664 , G06K9/00805 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30252
摘要： An apparatus and method of planning a traveling path of a mobile robot, the apparatus and method including a pattern extracting unit, a pattern direction extracting unit, and a path generating unit. The pattern extracting unit may extract at least one pattern from an image of a ceiling captured in a ceiling direction. The pattern direction extracting unit may extract a pattern direction of the image in the form of a line from the at least one extracted pattern. The path generating unit may generate a traveling path of the mobile robot based on the extracted pattern direction.
摘要翻译：一种规划移动机器人的行进路径的装置和方法，所述装置和方法包括模式提取单元，模式方向提取单元和路径生成单元。图案提取单元可以从在天花板方向上捕获的天花板的图像中提取至少一个图案。图案方向提取单元可以从至少一个提取的图案中以线的形式提取图像的图案方向。路径产生单元可以基于提取的图案方向生成移动机器人的行进路径。

2. 发明授权

US08996292B2 Apparatus and method generating a grid map 有权
标题翻译：生成网格图的装置和方法
公开(公告)号：US08996292B2
公开(公告)日：2015-03-31
申请号：US12926008
申请日：2010-10-20
申请人： Jun-Ho Park , Woo-Yeon Jeong
发明人： Jun-Ho Park , Woo-Yeon Jeong
IPC分类号： G06F17/00 , B25J5/00 , B25J9/08 , G09B29/00
CPC分类号： G09B29/00 , Y10S901/01
摘要： An apparatus and method generating a grid map are provided. The grid map generating apparatus generates a grid map while turning 360 degrees at a dynamically adjustable rotational velocity. The dynamically adjustable rotational velocity allows grid points to have equal intervals on the grid map. The grid map generating apparatus generates a grid map while making a complete turn, and generates a grid map corresponding to a non-linear section while making another turn.
摘要翻译：提供了一种生成网格图的装置和方法。网格图生成装置以可动态调节的旋转速度360度旋转生成网格图。动态可调的旋转速度允许网格点在网格图上具有相等的间隔。网格图生成装置在完成转弯的同时生成网格图，并且在进行另一转时生成与非线性部分对应的网格图。

3. 发明申请

US20110178709A1 Apparatus and method generating a grid map 有权
标题翻译：生成网格图的装置和方法
公开(公告)号：US20110178709A1
公开(公告)日：2011-07-21
申请号：US12926008
申请日：2010-10-20
申请人： Jun-Ho Park , Woo-Yeon Jeong
发明人： Jun-Ho Park , Woo-Yeon Jeong
IPC分类号： G06F17/00 , B25J5/00 , B25J9/08
CPC分类号： G09B29/00 , Y10S901/01
摘要： An apparatus and method generating a grid map are provided. The grid map generating apparatus generates a grid map while turning 360 degrees at a dynamically adjustable rotational velocity. The dynamically adjustable rotational velocity allows grid points to have equal intervals on the grid map. The grid map generating apparatus generates a grid map while making a complete turn, and generates a grid map corresponding to a non-linear section while making another turn.
摘要翻译：提供了一种生成网格图的装置和方法。网格图生成装置以可动态调节的旋转速度360度旋转生成网格图。动态可调的旋转速度允许网格点在网格图上具有相等的间隔。网格图生成装置在完成转弯的同时生成网格图，并且在进行另一转时生成与非线性部分对应的网格图。

4. 发明申请

US20110194755A1 Apparatus and method with traveling path planning 有权
标题翻译：具有行驶路径规划的装置和方法
公开(公告)号：US20110194755A1
公开(公告)日：2011-08-11
申请号：US12926526
申请日：2010-11-23
申请人： Woo-Yeon Jeong , Jun-Ho Park
发明人： Woo-Yeon Jeong , Jun-Ho Park
IPC分类号： G06K9/00
CPC分类号： G06K9/00791 , G05D1/0219 , G05D1/0246 , G05D1/0272 , G05D2201/0203 , G06K9/00664 , G06K9/00805 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30252
摘要： An apparatus and method with traveling path planning of a mobile robot within a space along an inherent direction of the space. The apparatus may include a pattern extracting unit, a pattern direction extracting unit, and a path generating unit. The pattern extracting unit may extract at least one of pattern from a ceiling image captured by photographing in a ceiling direction. The pattern direction extracting unit may extract a pattern direction in the form of a line from the extracted pattern. The path generating unit may generate a traveling path using the extracted pattern direction.
摘要翻译：一种沿着空间的固有方向在空间内的移动机器人的行进路径规划的装置和方法。该装置可以包括模式提取单元，模式方向提取单元和路径产生单元。图案提取单元可以从顶棚方向拍摄的天花板图像中提取图案中的至少一个。图案方向提取单元可以从提取的图案中提取线形式的图案方向。路径产生单元可以使用所提取的图案方向来生成行进路径。

5. 发明授权

US08467902B2 Method and apparatus for estimating pose of mobile robot using particle filter 有权
公开(公告)号：US08467902B2
公开(公告)日：2013-06-18
申请号：US12155552
申请日：2008-06-05
申请人： Hyeon Myeong , Woo-Yeon Jeong , Seok-Won Bang
发明人： Hyeon Myeong , Woo-Yeon Jeong , Seok-Won Bang
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0207
摘要： A method and apparatus for estimating the pose of a mobile robot using a particle filter is provided. The apparatus includes an odometer which detects a variation in the pose of a mobile robot, a feature-processing module which extracts at least one feature from an upward image captured by the mobile robot, and a particle filter module which determines current poses and weights of a plurality of particles by applying the mobile robot pose variation detected by the odometer and the feature extracted by the feature-processing module to previous poses and weights of the particles.

6. 发明授权

US08787614B2 System and method building a map 有权
标题翻译：系统和方法构建地图
公开(公告)号：US08787614B2
公开(公告)日：2014-07-22
申请号：US13099866
申请日：2011-05-03
申请人： Hyun-Do Choi , Woo-Yeon Jeong
发明人： Hyun-Do Choi , Woo-Yeon Jeong
IPC分类号： G06K9/00
CPC分类号： G06K9/00691
摘要： A system building a map while an image sensor is moving, the system including the image sensor configured to capture images while the image sensor moves relative to one or more different locations, a sub-map building unit configured to recognize a relative location for at least the image sensor of the system using the captured images, build up a sub-map, and if a condition for stopping a building of the sub-map is met, store the sub-map which has been so far built up, an operation determining unit configured to determine whether the condition for stopping building the sub-map, an image group storing unit configured to store an image group including images that are newly captured from the image sensor after the storing of the sub-map when the condition for the stopping of the building of the sub-map is satisfied, and an overall map building unit configured to build an overall map based on the built sub-map and the stored image group when a current relative location for at least the image sensor of the system is determined to be same as a previous relative location for at least the image sensor of the system.
摘要翻译：一种在图像传感器正在移动的过程中构建地图的系统，所述系统包括被配置为在图像传感器相对于一个或多个不同位置移动时捕获图像的所述图像传感器;被配置为至少识别相对位置的子地图构建单元使用拍摄图像的系统的图像传感器，建立子地图，并且如果满足用于停止子地图的建筑物的条件，则存储已经建立起来的子地图，操作确定单元，其被配置为确定用于停止构建子地图的条件;图像组存储单元，被配置为在停止的条件时存储包括从所述图像传感器新捕获的图像的图像组满足所述子图的建立的总体地图构建单元，以及当至少所述图像的当前相对位置时，基于所构建的子地图和所存储的图像组来构建整体地图的总体地图构建单元系统的传感器被确定为与至少系统的图像传感器的先前的相对位置相同。

7. 发明申请

US20090024353A1 Method of measuring pose of mobile robot and method and apparatus for measuring position of mobile robot using the same 有权
标题翻译：测量移动机器人姿态的方法及使用其的移动机器人的位置测量方法和装置
公开(公告)号：US20090024353A1
公开(公告)日：2009-01-22
申请号：US12219235
申请日：2008-07-17
申请人： Hyoung-Ki Lee , Ki-Wan Choi , Seok-Won Bang , Woo-Yeon Jeong , Ji-Young Park
发明人： Hyoung-Ki Lee , Ki-Wan Choi , Seok-Won Bang , Woo-Yeon Jeong , Ji-Young Park
IPC分类号： G01P13/00
CPC分类号： G05D1/0891 , G06T7/73 , G06T2207/10016 , G06T2207/30244 , G06T2207/30252
摘要： A method of measuring pose of mobile robot, and method and apparatus for measuring for measuring position of mobile robot using the same are provided. The apparatus for measuring the pose of a mobile robot includes an accelerometer measuring acceleration of the mobile robot in a forward direction, a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section, and a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity.
摘要翻译：提供了一种测量移动机器人姿态的方法，以及用于测量用于测量移动机器人的移动机器人的位置的方法和装置。用于测量移动机器人的姿态的装置包括：加速度计，测量移动机器人在向前方向的加速度;均匀运动确定单元，确定移动机器人是否属于均匀运动部分，加速部分或减速度姿势计算单元，使用所测量的向前方向的加速度与重力加速度之间的关系来计算均匀运动部分中的移动机器人的俯仰和滚动。

8. 发明申请

US20110268349A1 SYSTEM AND METHOD BUILDING A MAP 有权
标题翻译：系统和方法建立地图
公开(公告)号：US20110268349A1
公开(公告)日：2011-11-03
申请号：US13099866
申请日：2011-05-03
申请人： Hyun-Do CHOI , Woo-Yeon Jeong
发明人： Hyun-Do CHOI , Woo-Yeon Jeong
IPC分类号： G06K9/00
CPC分类号： G06K9/00691
摘要： A system building a map while an image sensor is moving, the system including the image sensor configured to capture images while the image sensor moves relative to one or more different locations, a sub-map building unit configured to recognize a relative location for at least the image sensor of the system using the captured images, build up a sub-map, and if a condition for stopping a building of the sub-map is met, store the sub-map which has been so far built up, an operation determining unit configured to determine whether the condition for stopping building the sub-map, an image group storing unit configured to store an image group including images that are newly captured from the image sensor after the storing of the sub-map when the condition for the stopping of the building of the sub-map is satisfied, and an overall map building unit configured to build an overall map based on the built sub-map and the stored image group when a current relative location for at least the image sensor of the system is determined to be same as a previous relative location for at least the image sensor of the system.
摘要翻译：一种在图像传感器正在移动的过程中构建地图的系统，所述系统包括被配置为在图像传感器相对于一个或多个不同位置移动时捕获图像的所述图像传感器;被配置为至少识别相对位置的子地图构建单元使用拍摄图像的系统的图像传感器，建立子地图，并且如果满足用于停止子地图的建筑物的条件，则存储已经建立起来的子地图，操作确定单元，其被配置为确定用于停止构建子地图的条件;图像组存储单元，被配置为在停止的条件时存储包括从所述图像传感器新捕获的图像的图像组满足所述子图的建立的总体地图构建单元，以及当至少所述图像的当前相对位置时，基于所构建的子地图和所存储的图像组来构建整体地图的总体地图构建单元系统的传感器被确定为与至少系统的图像传感器的先前的相对位置相同。

9. 发明申请

US20100070125A1 Apparatus and method for localizing mobile robot 有权
标题翻译：用于定位移动机器人的装置和方法
公开(公告)号：US20100070125A1
公开(公告)日：2010-03-18
申请号：US12382681
申请日：2009-03-20
申请人： Su-Jinn Lee , Woo-Yeon Jeong
发明人： Su-Jinn Lee , Woo-Yeon Jeong
IPC分类号： G05D1/00
CPC分类号： G05D1/0253 , G05D1/0274 , G06T7/246 , G06T7/277 , G06T7/73 , G06T2207/10016 , G06T2207/30204
摘要： An apparatus and method for localizing a mobile robot are provided. The method includes building a forward image map including features extracted according to position at which the mobile robot takes forward images and feature descriptors of the extracted features, and localizing the mobile robot on the basis of features extracted from a newly input forward image and the built forward image map.
摘要翻译：提供了一种用于本地化移动机器人的装置和方法。该方法包括构建包括根据移动机器人取代图像的位置提取的特征的前向图像映射和所提取的特征的特征描述符，并且基于从新输入的前向图像提取的特征来定位移动机器人，并且构建前进图像映射。

10. 发明授权

US08380384B2 Apparatus and method for localizing mobile robot 有权
标题翻译：用于定位移动机器人的装置和方法
公开(公告)号：US08380384B2
公开(公告)日：2013-02-19
申请号：US12382681
申请日：2009-03-20
申请人： Su-Jinn Lee , Woo-Yeon Jeong
发明人： Su-Jinn Lee , Woo-Yeon Jeong
IPC分类号： G01C22/00 , G06F19/00
CPC分类号： G05D1/0253 , G05D1/0274 , G06T7/246 , G06T7/277 , G06T7/73 , G06T2207/10016 , G06T2207/30204
摘要： An apparatus and method for localizing a mobile robot are provided. The method includes building a forward image map including features extracted according to position at which the mobile robot takes forward images and feature descriptors of the extracted features, and localizing the mobile robot on the basis of features extracted from a newly input forward image and the built forward image map.
摘要翻译：提供了一种用于本地化移动机器人的装置和方法。该方法包括构建包括根据移动机器人取代图像的位置提取的特征的前向图像映射和所提取的特征的特征描述符，并且基于从新输入的前向图像提取的特征来定位移动机器人，并且构建前进图像映射。

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