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1. 发明专利

JP2013132748A Moving device and method for recognizing position of the same 有权
标题翻译：移动装置和识别其位置的方法
公开(公告)号：JP2013132748A
公开(公告)日：2013-07-08
申请号：JP2012280327
申请日：2012-12-21
申请人： Samsung Electronics Co Ltd , 三星電子株式会社Samsung Electronics Co.,Ltd.
发明人： AHN SUNG HWAN , KWAK NO SAN , ROH KYOUNG-SIG , YOON SUK JUNE , HYUNG SEUNG YONG
IPC分类号： B25J19/02 , G01B11/00 , G01B21/00 , G05D1/02
CPC分类号： G06F11/30 , G05D1/0246 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0217 , G06F11/3013 , G06F11/3058
摘要： PROBLEM TO BE SOLVED: To provide a moving device and a method for recognizing the position of the moving device whose position recognition performance (accuracy and convergence of position recognition) of a moving device (traveling robot, walking robot, portable mobile equipment, etc.) in a wide space has been further improved.SOLUTION: There are provided at least one sensor 110 to 130, at least one first dispersion filter 310 to 340 configured to generate current relative position information by using the detection value of the at least one sensor, at least one second dispersion filter 350 configured to generate current absolute position information by using the detection value of the at least one sensor, and a fusion filter 360 configured to perform position recognition by fusing the relative position information of the first dispersion filter and the absolute position information of the second dispersion filter.
摘要翻译：要解决的问题：提供一种用于识别移动装置（行走机器人，步行机器人，便携式移动设备等）的位置识别性能（位置识别的精度和收敛）的移动装置的位置的移动装置和方法）已经进一步改进。解决方案：提供至少一个传感器110至130，至少一个第一色散滤光器310至340，其被配置为通过使用至少一个传感器的检测值来产生当前相对位置信息被配置为通过使用至少一个传感器的检测值来生成当前绝对位置信息的至少一个第二色散滤光器350以及被配置为通过将第一色散滤光器的相对位置信息和第二色散滤波器的绝对位置信息。

2. 发明专利

JP2009271513A Robot and method of building map therefor 有权
标题翻译：机器人及其构建方法
公开(公告)号：JP2009271513A
公开(公告)日：2009-11-19
申请号：JP2009066988
申请日：2009-03-18
申请人： Samsung Electronics Co Ltd , 三星電子株式会社Samsung Electronics Co.,Ltd.
发明人： YOON SUK JUNE , KWON WOONG , HYUNG SEUNG YONG , KIM HYUN KYU , ROH KYOUNG-SIG
IPC分类号： G09B29/00 , B25J13/08 , G05D1/02
CPC分类号： B25J9/1666 , G05B2219/40442
摘要： PROBLEM TO BE SOLVED: To provide a robot capable of building accurate map information, from which a dynamic obstacle is removed, by using a three-dimensional surface matching method in which a dynamic obstacle is detected from three-dimensional data of two surfaces, and to provide a method of building a map therefor. SOLUTION: The method of building a map for a robot 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 the difference between the first and second surface data; detecting a dynamic obstacle positioned on 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; and matching the third surface data and either one of the first and second surface data with each other to create the map. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够通过使用三维表面匹配方法来构建精确的地图信息的机器人，其中动态障碍物被去除，其中从三维数据中检测到动态障碍物表面，并提供一种构建地图的方法。解决方案：构建机器人的地图的方法包括：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来检测位于第一和第二表面数据上的动态障碍物; 通过去除动态障碍物产生第三表面数据; 并且将第三表面数据和第一和第二表面数据中的任一个彼此匹配以创建地图。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2010044740A Method for creating three-dimensional grid map and method of controlling automatic running device using it 有权
标题翻译：用于创建三维网格地图的方法和使用它来控制自动运行设备的方法
公开(公告)号：JP2010044740A
公开(公告)日：2010-02-25
申请号：JP2009088934
申请日：2009-04-01
申请人： Samsung Electronics Co Ltd , 三星電子株式会社Samsung Electronics Co.,Ltd.
发明人： YOON SUK JUNE , ROH KYOUNG-SIG , KWON WOONG , HYUNG SEUNG YONG , KIM HYUN KYU
IPC分类号： G06T1/00 , G06T17/05 , G09B29/00 , G09B29/10
CPC分类号： G05D1/0251 , G05D1/0274 , G05D2201/0207 , G06T7/593 , G06T2207/30252 , G09B25/06
摘要： PROBLEM TO BE SOLVED: To provide a method for creating three-dimensional grid map and a method of controlling an autonomous driving apparatus using it.
SOLUTION: The method for creating a three-dimensional grid map, in order to comprehend a current position of an unmanned vehicle or a moving robot and surrounding landform, includes steps of: obtaining an omnidirectional image around the vehicle or the robot using a stereo omnidirectional camera; identifying the current position in the two-dimensional map using the omnidirectional image; restoring a three-dimensional image of the omnidirectional image; and combining the identified two-dimensional position and the restored three-dimensional image to achieve the creation of the three-dimensional grid map around the stereo omnidirectional camera.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种创建三维网格图的方法和一种使用它的自主驾驶装置的控制方法。解决方案：为了理解无人驾驶车辆或移动机器人和周围地形的当前位置，创建三维网格图的方法包括以下步骤：在车辆或机器人周围获得全向图像立体声全向相机; 使用全向图像识别二维地图中的当前位置; 恢复全向图像的三维图像; 并且将识别的二维位置和恢复的三维图像组合以实现立体全向摄像机周围的三维网格图的创建。版权所有（C）2010，JPO＆INPIT

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