Abstract: The present invention relates to an image processing apparatus and a mobile robot including the same. The image processing apparatus according to an embodiment of the present invention includes an image acquisition unit for obtaining an image and a processor for performing signal processing on the image from the image acquisition unit, and the processor is configured to group super pixels in the image on the basis of colors or luminances of the image, calculate representative values of the super pixels and perform segmentation on the basis of the representative values of the super pixels. Accordingly, image segmentation can be performed rapidly and accurately.

Abstract: The present invention relates to a technology in which a moving robot using artificial intelligence is enabled to learn a map using information generated by itself and information received from another moving robot, and a map learning method of a moving robot according to the present invention includes generating, by the moving robot, node information based on a constraint measured during traveling, and receiving node group information of another moving robot. A moving robot using artificial intelligence according to the present invention includes: a travel drive unit configured to move a main body; a travel constraint measurement unit configured to measure a travel constraint; a receiver configured to receive node group information of another moving robot; and a controller configured to generate node information on a map based the travel constraint, and add the node group information of the another moving robot to the map.

Abstract: A mobile robot and a method of controlling the mobile robot are disclosed. The method includes acquiring an image of an inside of a traveling zone. The method further includes performing a point-based feature point extraction by extracting a first feature point from the acquired image. The method also includes performing a block-based feature point extraction by dividing the acquired image into blocks having a predetermined size and extracting a second feature point from each of the divided block-unit images. The method also includes determining the current location by performing a point-based feature point matching using the first feature point and performing a block-based feature point using the second feature point. The method also includes storing the determined current location in association with the first feature point and the second feature point in a map.

Abstract: A mobile robot includes a traveling unit configured to move a main body, a LiDAR sensor configured to acquire geometry information, a camera sensor configured to acquire an image of the outside of the main body, and a controller. The controller generates odometry information based on the geometry information acquired by the LiDAR sensor. The controller determines a current location of the mobile robot by performing feature matching between images acquired by the camera sensor based on the odometry information. The controller combines the information obtained by the camera sensor and the LiDAR sensor to accurately determine the current location of the mobile robot.

Abstract: Disclosed is an artificial intelligence moving robot including: a travel unit configured to move a main body based on a navigation map including a plurality of local maps; an image acquisition unit configured to acquire a plurality of images in regions corresponding to the plurality of local maps during movement; a storage unit configured to store the plurality of images acquired by the image acquisition unit; and a controller configured to recognize an attribute of a local map in which an N number of images photographed in multiple directions is acquired among the plurality of local maps, store the attribute recognition result in the storage, generate a semantic map composed of a predetermined number of neighboring local maps, and recognize a final attribute of a region corresponding to the semantic map based on attribute recognition results of the local maps included in the semantic map.

Abstract: A cleaner is disclosed. The cleaner method includes a movable body configured to be movable for suctioning dust and a following body for collecting the dust suctioned by the movable body, the following body being mobile, wherein the following body includes an image acquisition unit for acquiring an image for a view around the following body and a controller for controlling the following body to travel while following the movable body based on the acquired image.

Abstract: A controlling method for an artificial intelligence moving robot according to an aspect of the present disclosure includes: moving based on a map including a plurality of regions; acquiring images from the plurality of regions through an image acquisition unit during the moving; extracting region feature information based on the acquired image; and storing the extracted region feature information in connection with position information when an image is acquired.

Abstract: A controlling method for an artificial intelligence moving robot according to an aspect of the present disclosure includes: checking nodes within a predetermined reference distance from a node corresponding to a current position; determining whether there is a correlation between the nodes within the reference distance and the node corresponding to the current position; determining whether the nodes within the reference distance are nodes of a previously learned map when there is no correlation; and registering the node corresponding to the current position on the map when the nodes within the reference distance are determined as nodes of the previously learned map, thereby being able to generate a map in which the environment of a traveling section and environmental changes are appropriately reflected.

Abstract: A method of controlling a mobile robot includes a learning initial operation of acquiring images for respective points, generating descriptors that respectively correspond to a plurality of feature points extracted from the images, and generating nodes that correspond to the images acquired at the respective points, a label generation operation of generating a label descriptor based on the plurality of descriptors, a localization initial operation of acquiring a localization image when a jumping case occurs, and generating respective localization descriptors corresponding to a plurality of localization feature points extracted from the localization image, a comparison target selection operation of matching the label descriptor to each of the localization descriptors and selecting one or more comparison target nodes corresponding to the matched label descriptor, and a last node selection operation of selecting a node estimated as the current position among the one or more comparison target node.

Abstract: A method of controlling a mobile robot includes a first basic learning process of generating a first basic map based on environment information acquired in a traveling process, a second basic learning process of generating a second basic map based on environment information acquired in a separate traveling process, and a merging process of merging the first basic map and the second basic map to generate a merged map.

Abstract: Disclosed is a moving robot including: a travel unit configured to move a body; an image acquisition unit configured to acquire a surrounding image of the body; a sensor unit having one or more sensors configured to detect an obstacle while the body moves; a controller configured to: upon detection of an obstacle by the sensor unit, recognize an attribute of the obstacle based on an image acquired by the image acquisition unit, and control driving of the travel unit based on the attribute of the obstacle; and a sound output unit configured to: output preset sound when the recognized attribute of the obstacle indicates a movable obstacle. Accordingly, the moving robot improves stability, user convenience, driving efficiency, and cleaning efficiency.

Abstract: A method of controlling a moving-robot includes creating a plurality of maps having different generation-time information through a plurality of driving processes; choosing any one of the plurality of maps according to a certain map choosing algorithm based on current time information and the generation-time information, and attempting location recognition based on the chosen map.

Abstract: A mobile robot includes a travel drive unit configured to move a main body, an image acquisition unit configured to acquire an image of surroundings of the main body, a sensor unit having one or more sensors configured to sense an object during the movement of the main body, a storage configured to, when the sensor unit senses an object, store position information of the sensed object and position information of the mobile robot, register an area having a predetermined size around a position of the sensed object as an object area in a map, and store the image acquired by the image acquisition unit in the object area, and a controller having an object recognition module configured to recognize the object sequentially with respect to images acquired by the image acquisition unit in the object area, and determine a final attribute of the object based on a plurality of recognition results of the sequential recognition.

Abstract: A mobile robot includes a travel drive unit configured to move a main body, an image acquisition unit configured to acquire a plurality of images by continuously photographing surroundings of the main body, a storage configured to store the plurality of continuous images acquired by the image acquisition unit, a sensor unit having one or more sensors configured to sense an object during the movement of the main body, and a controller configured to, in response to the sensing of the object by the sensor unit, select an image acquired at a specific point in time earlier than an object sensing time of the sensor unit from among the plurality of continuous images based on a moving direction and a moving speed of the main body, and recognize an attribute of the object included in the selected image acquired at the specific point in time.

Abstract: A mobile robot includes a travel drive unit configured to move a main body, an image acquisition unit configured to acquire an image of surroundings of the main body, a storage configured to store the image acquired by the image acquisition unit, a sensor unit having one or more sensors configured to sense an object during the movement of the body, and a controller configured to perform control to extract a part of the image acquired by the image acquisition unit in correspondence to a direction in which the object sensed by the sensor unit is present.

Abstract: The present invention relates to a moving robot capable of recognizing a position on a map and a control method of the moving robot, and the moving robot according to the present invention includes: a travel drive unit configured to move a main body; an image acquisition unit configured to acquire images of surroundings; and a controller configured to recognize a current position.

Abstract: A method for controlling a robot cleaner configured to project light of a predetermined pattern to a floor of an area in front thereof in a specific direction and to acquire an image of the area to which the light is projected, according to the present disclosure, includes: (a) acquiring a front view image of the robot cleaner; (b) detecting the pattern from the image acquired in (a); and (c) discriminating a pattern formed by reflected light from a pattern formed by light directly projected from the robot cleaner, from among patterns indicated in the acquired image, on the basis of geometrical characteristics defined by a projection direction of the light and the direction of an optical axis in which the image is acquired when two or more patterns are detected from the image.

Abstract: Disclosed is a moving robot including: a travel unit configured to move a main body based on a navigation map including a plurality of local maps; an image acquisition unit configured to acquire a plurality of images in regions corresponding to the plurality of local maps during movement; a storage unit configured to store the plurality of images acquired by the image acquisition unit; and a controller configured to recognize an attribute of a local map in which an N number of images photographed in multiple directions is acquired among the plurality of local maps, store the attribute recognition result in the storage, generate a semantic map composed of a predetermined number of neighboring local maps, and recognize a final attribute of a region corresponding to the semantic map based on attribute recognition results of the local maps included in the semantic map.

Abstract: A method for controlling a robot cleaner configured to project light of a predetermined pattern to a floor of an area in front thereof in a specific direction and to acquire an image of the area to which the light is projected, according to the present disclosure, includes: (a) acquiring a front view image of the robot cleaner; (b) detecting the pattern from the image acquired in (a); and (c) discriminating a pattern formed by reflected light from a pattern formed by light directly projected from the robot cleaner, from among patterns indicated in the acquired image, on the basis of geometrical characteristics defined by a projection direction of the light and the direction of an optical axis in which the image is acquired when two or more patterns are detected from the image.

Abstract: Disclosed herein is a cleaner including a main body for sucking dust on the floor in a cleaning region while actively traveling, and a marker indication device for indicating a marker on the floor in the cleaning region while moving independently of the main body, wherein the main body includes an image acquisition unit acquiring a front image thereof, and a controller to track a movement trajectory of the marker on the acquired image, set a traveling path, in an actual space, corresponding to the movement trajectory, and control the main body such that the main body travels along the set traveling path.