Abstract: A method and apparatus for estimating a position and an orientation of a mobile robot. The apparatus includes: a ceiling image grabber for obtaining a ceiling image of an area where the mobile device travels; a mark detector for detecting a retro-reflective artificial mark from the ceiling image, the retro-reflective artificial mark including a first mark and a second mark, each including a non-reflective portion and an infrared reflective portion; and a position & orientation estimator for estimating a position and an orientation of the mobile device using a position of the artificial mark or encoder information according to whether detection of the artificial mark is successful.

Abstract: Technology for creating a feature map for localizing a mobile robot and extracting feature information of surroundings is provided. According to one aspect, feature information including a reflection function is extracted from information acquired using a 3D distance sensor and used as a basis for creating a feature map. Thus, a feature map that is less sensitive to change in the surrounding environment can be created, and a success rate of feature matching can be increased.

Abstract: A method and apparatus for processing a line pattern using a convolution kernel. An apparatus for processing a line pattern, the apparatus including a light source module radiating predetermined light and a camera module capturing an image of an object, onto which the light is radiated, the apparatus processing a line pattern included in the captured image, includes: a kernel learning unit determining a kernel shape and an optimal threshold value with respect to each vertical interval of the image using a simple line pattern formed at a predetermined location; a convolution application unit applying convolution to a captured test image using the determined kernel shape and optimal threshold value; and a region selection unit scanning each pixel column in the image, to which the convolution is applied, in a vertical direction, and setting pixel values of pixel groups other than a selected pixel group to 0 when a plurality of pixel groups having pixel values other than 0 exists.

Abstract: A system and method for extracting a corner point in a space using pixel information obtained from a camera are provided. The corner point extracting system includes a light generation module emitting light in a predetermined form (such as a plane form), an image acquisition module acquiring an image of a reflector reflecting the light emitted from the light generation module, and a control module obtaining distance data between the light generation module and the reflector using the acquired image and extracting a corner point by performing split-merge using a threshold proportional to the distance data. The threshold is a value proportional to the distance data which corresponds to pixel information of the image acquisition module.

Abstract: An obstacle detecting apparatus and a method thereof, which are usable in an autonomous moving robot, are provided. The obstacle detecting apparatus extracts at least one plane from measured range data, extracts at least one intersection point and at least one intersection line using at least one plane, and extracts matching data neighboring at least one intersection point and at least one intersection line from the range data. The matching data is extracted by reflecting uncertainties of the intersection point and the intersection line extracted from the measured range data. Matching is performed between the extracted matching data and model data, and an obstruction is detected by using the matching result.

Abstract: Disclosed herein is a mobile robot, and system and method for autonomous navigation of the same. The mobile robot includes a communications module for transmitting a light source control signal to selectively control light sources of a landmark array to flicker, an image processing module for calculating image coordinates of the light sources from an image signal, a pose calculation module for calculating position coordinates of the mobile robot, a motion control module for calculating a moving path and controlling the mobile robot to move along the moving path, and a main control module for controlling interoperations of the modules and general operations of the mobile robot.

Abstract: A method, apparatus, and medium for correcting a pose of a moving robot are provided. The method includes sensing an entrance using a distance-sensing sensor mounted on the moving robot, storing first distance data of the sensed entrance, after the moving robot travels, newly sensing the entrance using the distance-sensing sensor, and correcting the pose of the moving robot using the first distance data and second distance data corresponding to the entrance newly sensed after the moving robot travels.

Abstract: The present invention relates to an apparatus and method for creating a three-dimensional caricature, and more particularly, to an apparatus and method for creating a three-dimensional caricature having a high degree of similarity to user's face by precisely extracting feature point information on facial features and modifying a three-dimensional polygon face basic model based on the feature point information using an ASM technique specialized for faces. The method comprises the steps of detecting the positions of eyes from an input facial image and normalizing the size of the facial image, detecting each initial position for facial features from the normalized facial image, loading ASMs in the normalized facial image so as to correspond to the detected initial position and then extracting feature points for the facial features, and creating a three-dimensional polygon face caricature by modifying the three-dimensional polygon face basic model according to coordinate values of the extracted feature points.

Abstract: A three-dimensional map-generating apparatus and method using structured light. The apparatus for generating a three-dimensional map using structured light includes an odometer detecting the pose of a mobile robot, and a distance-measuring sensor including a light source module that emits light upward and a camera module that captures an image formed by light reflected from an obstacle, and measuring a distance to the obstacle using the captured image. The apparatus measures a distance to the obstacle using the distance-measuring sensor while changing the relative pose of the mobile robot, thereby generating a three-dimensional map.

Abstract: A method of detecting an object using a structured light and a robot using the same are disclosed. The method of detecting a floor object using a structured light includes measuring a height difference of a position onto which a specified structured light is projected with a reference position, and detecting the floor object using the measured height difference.

Abstract: Provided are an apparatus and method of measuring a distance using structured light. The apparatus includes a binarization unit binarizing an image, an image identification unit identifying an image having connected pixels in the binarized image, a length ratio calculation unit obtaining the length ratio of the major axis of the image having the connected pixels to a minor axis perpendicular to the major axis, a pixel mean calculation unit obtaining the mean of pixel values of the image having the connected pixels, and an image extraction unit extracting an image formed by the light irradiated from the light source, from the images having connected pixels using the length ratio and the mean of the pixel values.

Abstract: A system, a method, and medium for detecting a moving object using a structured light, and a mobile robot including the system are provided. The system includes an image obtaining unit to obtain a first image at a predetermined position and a second image at a position after a movement of the system by using a light source; an image predicting unit to predict the second image at the position after the movement of the system by using the first image and information with respect to the movement of the system; and a comparing/analyzing unit to compare and analyze the second image obtained by the image obtaining unit and the second image predicted by the image predicting unit.

Abstract: A method of detecting an object using a structured light and a robot using the same are disclosed. The method of detecting a floor object using a structured light includes measuring a height difference of a position onto which a specified structured light is projected with a reference position, and detecting the floor object using the measured height difference.

Abstract: A data input apparatus, medium, and method detecting a selected data key input. The data input apparatus may include an image output module, an image input module, and a control module, with the image output module generating an input image having a predetermined number of input keys for the input of data. The image input module may capture the generated input image, and the control module may then binarize the captured images of the respective input keys, e.g., using a predetermined threshold value. Accordingly, the proper selection of input keys can be determined by comparing the binarized images with previously stored binarized images.

Abstract: A method and apparatus for processing a line pattern using a convolution kernal. An apparatus for processing a line pattern, the apparatus including a light source module radiating predetermined light and a camera module capturing an image of an object, onto which the light is radiated, the apparatus processing a line pattern included in the captured image, includes: a kernel learning unit determining a kernel shape and an optimal threshold value with respect to each vertical interval of the image using a simple line pattern formed at a predetermined location; a convolution application unit applying convolution to a captured test image using the determined kernel shape and optimal threshold value; and a region selection unit scanning each pixel column in the image, to which the convolution is applied, in a vertical direction, and setting pixel values of pixel groups other than a selected pixel group to 0 when a plurality of pixel groups having pixel values other than 0 exists.

Abstract: A system and method extracting a corner point in a space using pixel information obtained from a camera are provided. The corner point extracting system includes a light generation module emitting light in a predetermined form (such as a plane form), an image acquisition module acquiring an image of a reflector reflecting the light emitted from the light generation module, and a control module obtaining distance data between the light generation module and the reflector using the acquired image and extracting a corner point by performing split-merge using a threshold proportional to the distance data. The threshold is a value proportional to the distance data which corresponds to pixel information of the image acquisition module.

Abstract: A dust detection method and apparatus of a cleaning robot. The dust detection method involves acquiring a floor image as a current floor image of a predetermined place at a current location of the cleaning robot in the predetermined place; obtaining a difference image between the current floor image and a background image selected from a feature map consisting of a plurality of floor images of the predetermined place; and detecting a dusty area based on the difference image and adjusting a cleaning power of the cleaning robot.

Abstract: Disclosed herein is a mobile robot, and system and method for autonomous navigation of the same. The mobile robot includes a communications module for transmitting a light source control signal to selectively control light sources of a landmark array to flicker, an image processing module for calculating image coordinates of the light sources from an image signal, a pose calculation module for calculating position coordinates of the mobile robot, a motion control module for calculating a moving path and controlling the mobile robot to move along the moving path, and a main control module for controlling interoperations of the modules and general operations of the mobile robot.

Abstract: The present invention relates to an apparatus and method for creating a three-dimensional caricature, and more particularly, to an apparatus and method for creating a three-dimensional caricature having a high degree of similarity to user's face by precisely extracting feature point information on facial features and modifying a three-dimensional polygon face basic model based on the feature point information using an ASM technique specialized for faces. The method comprises the steps of detecting the positions of eyes from an input facial image and normalizing the size of the facial image, detecting each initial position for facial features from the normalized facial image, loading ASMs in the normalized facial image so as to correspond to the detected initial position and then extracting feature points for the facial features, and creating a three-dimensional polygon face caricature by modifying the three-dimensional polygon face basic model according to coordinate values of the extracted feature points.