APPARATUS AND METHOD FOR DETECTING ROTATION-INVARIANT FEATURES FOR LOCALIZATION OF A MOBILE ROBOT
PURPOSE: A device and a method of detecting a feature point which rotation change is not changeable for estimating location of a moving robot are provided not to change an image size rate and to mention a feature point to be not change against the illuminance change or rotation change and to reduce...
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| creator | LEE, SEONG SOO BAEK, SEUNG MIN REDKOV VICTOR LUTSIV VADIM POTAPOV ALEXEY CHOI, YOO JIN LEE, JEI HUN YI, DONG HOON CHOI, SOO WOOK KIM, YIE BIN YOON, JEONG SUK NA, SANG IK SON, HYUK SOO KIM, YOUNG GIE |
| description | PURPOSE: A device and a method of detecting a feature point which rotation change is not changeable for estimating location of a moving robot are provided not to change an image size rate and to mention a feature point to be not change against the illuminance change or rotation change and to reduce calculation amount about the image size change as including direction mentioning device of a feature point by extracting the outline of an image. CONSTITUTION: A feature point detecting device for not changing in rotation change for estimating location of a moving robot includes a camera, an outline detection unit and a feature point detection unit. The camera obtains a ceiling image of an interest area(S10). The outline detection unit detects the outline in the obtained ceiling image and generates mentioning device of outline points according to the shape connected to the outline points forming the outline(S20). The feature detection unit detects the feature point according to the shape of the classified outline points and rotates a direction of the feature points to a reference direction(S30).
본 발명은 단일 카메라를 이용하여 천장 영상을 획득하고 획득한 영상으로부터 다수의 윤곽선과 다수의 특징점을 추출하여 추출된 윤곽선을 구성하는 특정한 다수의 윤곽점에 기초하여 특징점을 검출하고, 특징점의 방향을 기준방향에 일치 시킴으로써 특징점의 공간적 위치를 더욱 안정하게 할 수 있고, 또한 상기 단일 카메라가 천장 방향을 향하게 하여 상기 카메라로부터 상기 특징점의 위치가 변하지 않게 함으로써 상기 카메라와 특징점의 거리 변화를 무시할 수 있어 특징점 추출 및 매칭 속도를 현저하게 줄 일 수 있다. |
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본 발명은 단일 카메라를 이용하여 천장 영상을 획득하고 획득한 영상으로부터 다수의 윤곽선과 다수의 특징점을 추출하여 추출된 윤곽선을 구성하는 특정한 다수의 윤곽점에 기초하여 특징점을 검출하고, 특징점의 방향을 기준방향에 일치 시킴으로써 특징점의 공간적 위치를 더욱 안정하게 할 수 있고, 또한 상기 단일 카메라가 천장 방향을 향하게 하여 상기 카메라로부터 상기 특징점의 위치가 변하지 않게 함으로써 상기 카메라와 특징점의 거리 변화를 무시할 수 있어 특징점 추출 및 매칭 속도를 현저하게 줄 일 수 있다.</description><language>eng ; kor</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; COFFEE MILLS ; CONTROLLING ; DOMESTIC ARTICLES OR APPLIANCES ; DOMESTIC WASHING OR CLEANING ; FURNITURE ; HAND TOOLS ; HUMAN NECESSITIES ; MANIPULATORS ; PERFORMING OPERATIONS ; PHYSICS ; PORTABLE POWER-DRIVEN TOOLS ; REGULATING ; SPICE MILLS ; SUCTION CLEANERS IN GENERAL ; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ; TRANSPORTING</subject><creationdate>2011</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20110128&DB=EPODOC&CC=KR&NR=20110009547A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76516</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20110128&DB=EPODOC&CC=KR&NR=20110009547A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>LEE, SEONG SOO</creatorcontrib><creatorcontrib>BAEK, SEUNG MIN</creatorcontrib><creatorcontrib>REDKOV VICTOR</creatorcontrib><creatorcontrib>LUTSIV VADIM</creatorcontrib><creatorcontrib>POTAPOV ALEXEY</creatorcontrib><creatorcontrib>CHOI, YOO JIN</creatorcontrib><creatorcontrib>LEE, JEI HUN</creatorcontrib><creatorcontrib>YI, DONG HOON</creatorcontrib><creatorcontrib>CHOI, SOO WOOK</creatorcontrib><creatorcontrib>KIM, YIE BIN</creatorcontrib><creatorcontrib>YOON, JEONG SUK</creatorcontrib><creatorcontrib>NA, SANG IK</creatorcontrib><creatorcontrib>SON, HYUK SOO</creatorcontrib><creatorcontrib>KIM, YOUNG GIE</creatorcontrib><title>APPARATUS AND METHOD FOR DETECTING ROTATION-INVARIANT FEATURES FOR LOCALIZATION OF A MOBILE ROBOT</title><description>PURPOSE: A device and a method of detecting a feature point which rotation change is not changeable for estimating location of a moving robot are provided not to change an image size rate and to mention a feature point to be not change against the illuminance change or rotation change and to reduce calculation amount about the image size change as including direction mentioning device of a feature point by extracting the outline of an image. CONSTITUTION: A feature point detecting device for not changing in rotation change for estimating location of a moving robot includes a camera, an outline detection unit and a feature point detection unit. The camera obtains a ceiling image of an interest area(S10). The outline detection unit detects the outline in the obtained ceiling image and generates mentioning device of outline points according to the shape connected to the outline points forming the outline(S20). The feature detection unit detects the feature point according to the shape of the classified outline points and rotates a direction of the feature points to a reference direction(S30).
본 발명은 단일 카메라를 이용하여 천장 영상을 획득하고 획득한 영상으로부터 다수의 윤곽선과 다수의 특징점을 추출하여 추출된 윤곽선을 구성하는 특정한 다수의 윤곽점에 기초하여 특징점을 검출하고, 특징점의 방향을 기준방향에 일치 시킴으로써 특징점의 공간적 위치를 더욱 안정하게 할 수 있고, 또한 상기 단일 카메라가 천장 방향을 향하게 하여 상기 카메라로부터 상기 특징점의 위치가 변하지 않게 함으로써 상기 카메라와 특징점의 거리 변화를 무시할 수 있어 특징점 추출 및 매칭 속도를 현저하게 줄 일 수 있다.</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>COFFEE MILLS</subject><subject>CONTROLLING</subject><subject>DOMESTIC ARTICLES OR APPLIANCES</subject><subject>DOMESTIC WASHING OR CLEANING</subject><subject>FURNITURE</subject><subject>HAND TOOLS</subject><subject>HUMAN NECESSITIES</subject><subject>MANIPULATORS</subject><subject>PERFORMING OPERATIONS</subject><subject>PHYSICS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>REGULATING</subject><subject>SPICE MILLS</subject><subject>SUCTION CLEANERS IN GENERAL</subject><subject>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2011</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNy78KwjAQgPEuDqK-w4FzIfUP4nhNLjbY5kp6OriUInESLdT3x1J8AKdv-X3zpMO6xoByaQC9gYqkYAOWAxgS0uL8CQILimOfOn_F4NALWBqXQM0kS9ZYuttkgC0gVJy7ksYxZ1kms0f3HOLq10WytiS6SGP_buPQd_f4ip_2HDYqy5RSx_3ugNv_1BeIlzSN</recordid><startdate>20110128</startdate><enddate>20110128</enddate><creator>LEE, SEONG SOO</creator><creator>BAEK, SEUNG MIN</creator><creator>REDKOV VICTOR</creator><creator>LUTSIV VADIM</creator><creator>POTAPOV ALEXEY</creator><creator>CHOI, YOO JIN</creator><creator>LEE, JEI HUN</creator><creator>YI, DONG HOON</creator><creator>CHOI, SOO WOOK</creator><creator>KIM, YIE BIN</creator><creator>YOON, JEONG SUK</creator><creator>NA, SANG IK</creator><creator>SON, HYUK SOO</creator><creator>KIM, YOUNG GIE</creator><scope>EVB</scope></search><sort><creationdate>20110128</creationdate><title>APPARATUS AND METHOD FOR DETECTING ROTATION-INVARIANT FEATURES FOR LOCALIZATION OF A MOBILE ROBOT</title><author>LEE, SEONG SOO ; BAEK, SEUNG MIN ; REDKOV VICTOR ; LUTSIV VADIM ; POTAPOV ALEXEY ; CHOI, YOO JIN ; LEE, JEI HUN ; YI, DONG HOON ; CHOI, SOO WOOK ; KIM, YIE BIN ; YOON, JEONG SUK ; NA, SANG IK ; SON, HYUK SOO ; KIM, YOUNG GIE</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_KR20110009547A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng ; kor</language><creationdate>2011</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>COFFEE MILLS</topic><topic>CONTROLLING</topic><topic>DOMESTIC ARTICLES OR APPLIANCES</topic><topic>DOMESTIC WASHING OR CLEANING</topic><topic>FURNITURE</topic><topic>HAND TOOLS</topic><topic>HUMAN NECESSITIES</topic><topic>MANIPULATORS</topic><topic>PERFORMING OPERATIONS</topic><topic>PHYSICS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>REGULATING</topic><topic>SPICE MILLS</topic><topic>SUCTION CLEANERS IN GENERAL</topic><topic>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>LEE, SEONG SOO</creatorcontrib><creatorcontrib>BAEK, SEUNG MIN</creatorcontrib><creatorcontrib>REDKOV VICTOR</creatorcontrib><creatorcontrib>LUTSIV VADIM</creatorcontrib><creatorcontrib>POTAPOV ALEXEY</creatorcontrib><creatorcontrib>CHOI, YOO JIN</creatorcontrib><creatorcontrib>LEE, JEI HUN</creatorcontrib><creatorcontrib>YI, DONG HOON</creatorcontrib><creatorcontrib>CHOI, SOO WOOK</creatorcontrib><creatorcontrib>KIM, YIE BIN</creatorcontrib><creatorcontrib>YOON, JEONG SUK</creatorcontrib><creatorcontrib>NA, SANG IK</creatorcontrib><creatorcontrib>SON, HYUK SOO</creatorcontrib><creatorcontrib>KIM, YOUNG GIE</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>LEE, SEONG SOO</au><au>BAEK, SEUNG MIN</au><au>REDKOV VICTOR</au><au>LUTSIV VADIM</au><au>POTAPOV ALEXEY</au><au>CHOI, YOO JIN</au><au>LEE, JEI HUN</au><au>YI, DONG HOON</au><au>CHOI, SOO WOOK</au><au>KIM, YIE BIN</au><au>YOON, JEONG SUK</au><au>NA, SANG IK</au><au>SON, HYUK SOO</au><au>KIM, YOUNG GIE</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>APPARATUS AND METHOD FOR DETECTING ROTATION-INVARIANT FEATURES FOR LOCALIZATION OF A MOBILE ROBOT</title><date>2011-01-28</date><risdate>2011</risdate><abstract>PURPOSE: A device and a method of detecting a feature point which rotation change is not changeable for estimating location of a moving robot are provided not to change an image size rate and to mention a feature point to be not change against the illuminance change or rotation change and to reduce calculation amount about the image size change as including direction mentioning device of a feature point by extracting the outline of an image. CONSTITUTION: A feature point detecting device for not changing in rotation change for estimating location of a moving robot includes a camera, an outline detection unit and a feature point detection unit. The camera obtains a ceiling image of an interest area(S10). The outline detection unit detects the outline in the obtained ceiling image and generates mentioning device of outline points according to the shape connected to the outline points forming the outline(S20). The feature detection unit detects the feature point according to the shape of the classified outline points and rotates a direction of the feature points to a reference direction(S30).
본 발명은 단일 카메라를 이용하여 천장 영상을 획득하고 획득한 영상으로부터 다수의 윤곽선과 다수의 특징점을 추출하여 추출된 윤곽선을 구성하는 특정한 다수의 윤곽점에 기초하여 특징점을 검출하고, 특징점의 방향을 기준방향에 일치 시킴으로써 특징점의 공간적 위치를 더욱 안정하게 할 수 있고, 또한 상기 단일 카메라가 천장 방향을 향하게 하여 상기 카메라로부터 상기 특징점의 위치가 변하지 않게 함으로써 상기 카메라와 특징점의 거리 변화를 무시할 수 있어 특징점 추출 및 매칭 속도를 현저하게 줄 일 수 있다.</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES COFFEE MILLS CONTROLLING DOMESTIC ARTICLES OR APPLIANCES DOMESTIC WASHING OR CLEANING FURNITURE HAND TOOLS HUMAN NECESSITIES MANIPULATORS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SPICE MILLS SUCTION CLEANERS IN GENERAL SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRANSPORTING |
| title | APPARATUS AND METHOD FOR DETECTING ROTATION-INVARIANT FEATURES FOR LOCALIZATION OF A MOBILE ROBOT |
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