Abstract: Provided are a method, apparatus, and medium for building a grid map in a mobile robot and a method, apparatus, and medium for cell decomposition using the grid map building method and apparatus. A mobile robot for building a grid map includes a grid map building unit obtaining grid points by sensing a distance to an external space or obstacle, and building a grid map, a feature point extraction unit extracting feature points from the grid points, a feature point update unit estimating the pose of the robot after the robot moves, and obtaining updated feature points by SLAM (Simultaneous Localization And Map building) algorithm, a transform formula calculation unit calculating a transform formula that transforms feature points extracted by the feature point extraction unit into feature points updated by the feature point update unit, and a grid map update unit updating the grid map according to the obtained formula.

Abstract: Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter.

Abstract: An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pair of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map.

Abstract: The present invention relates to a base station, a sensor network system including the base station, and a method of determining a security threshold for the sensor network system. In the method of determining a security threshold for a sensor network system, the sensor network system includes a base station and a plurality of sensor nodes. The plurality of sensor nodes is deployed in an area of interest. Routing paths from the deployed sensor nodes to the base station are set. The base station receives information from the deployed sensor nodes. A security threshold is determined based on the received information. Accordingly, the present invention can minimize unnecessary energy consumption while maintaining a security level suitable for the current situation of a sensor network system.

Abstract: A method used by a robot for simultaneous localization and map-building, including: initializing a pose of the robot and locations of landmarks; sampling a new pose of the robot during motion of the robot, and constructing chromosomes using the locations of the landmarks; observing the landmarks from a present location of the robot; generating offspring from the chromosomes; and selecting next-generation chromosomes from the chromosomes and the offspring using observation values of the landmarks.

Abstract: A method of dividing a coverage area of a robot and a device for the same. That is, a method of producing a space map for a robot to work and dividing the space map into at least one segment and a device for the same. The method includes producing an occupancy grid map composed of grid points that are probabilistically distributed by sensing a distance from an obstacle, producing a configuration space map by increasing the thickness of an obstacle and a wall in the occupancy grid map on the basis of the radius and size of the robot, and dividing an area by sweeping the area with a band-typed slice in the configuration space map.

Abstract: An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pairs of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map.

Abstract: A mobile robot and a method of localizing the robot are disclosed. The robot includes a gyroscope module providing information regarding a rotational angle of a gyroscope; an encoder module providing information regarding velocity and information regarding a rotational angle of a wheel of the robot by sensing motion of the wheel; and a control module estimating a current pose of the robot according to a method based on information provided by the encoder module and the gyroscope module, the control module incorporating information regarding rotational angle provided by the gyroscope module when estimating the current pose.

Abstract: A method and apparatus estimating a position of a moving robot are provided. The method includes receiving a primary signal and a secondary signal transmitted from a predetermined signal transmitter using a sensor, on a moving robot, that receives the primary signal and three or more sensors that receive the secondary signal; calculating a transmission distance from a sensor that receives the secondary signal using time information extracted from the primary signal; and calculating a position of the signal transmitter from the distance, wherein the secondary signal comprises first and second secondary signals and each sensor that senses the secondary signal determines whether to amplify the second secondary signal based on the result of the measurement of the first secondary signal.

Abstract: The apparatus includes a coarse map creating unit creating a coarse map which includes path information of the mobile robot; and a virtual door extracting unit extracting virtual doors which divide the coarse map into a plurality of sub regions, where the mobile robot sequentially cleans the sub regions one by one. The method includes creating a coarse map which includes path information of the mobile robot; extracting virtual doors which divide the coarse map into a plurality of sub regions; and sequentially cleaning the sub regions one by one.

Abstract: Provided are a method, medium, and apparatus for docking a mobile robot.

Abstract: A method, medium, and apparatus for performing path planning of a mobile robot is provided. The apparatus for performing path planning of a mobile robot includes a coarse map generation unit to generate a coarse map composed of a plurality of cells; a fine map generation unit to generate a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells is divided, and a path generation unit to control the fine map generation unit to generate the fine map with respect to a specified position in the coarse map generated through the coarse map generation unit.

Abstract: A method and apparatus for calibrating a gyro-sensor, by which a gyro-sensor can be calibrated using data which is obtained by measuring an angular velocity and a gyro output value of a moving body equipped with the gyro-sensor. The method includes measuring an angular velocity of a moving body and an average output value of the gyro-sensor when the moving body, equipped with the gyro-sensor, rotates, obtaining data about a characteristic equation of the gyro sensor using the measured angular velocity and the average output value and storing the data, and calibrating the gyro-sensor using the stored data about the characteristic equation.

Abstract: A method and apparatus for calibrating a gyro-sensor, by which a gyro-sensor can be calibrated using data which is obtained by measuring an angular velocity and a gyro output value of a moving body equipped with the gyro-sensor. The method includes measuring an angular velocity of a moving body and an average output value of the gyro-sensor when the moving body, equipped with the gyro-sensor, rotates, obtaining data about a characteristic equation of the gyro sensor using the measured angular velocity and the average output value and storing the data, and calibrating the gyro-sensor using the stored data about the characteristic equation.

Abstract: Provided is an apparatus, method, and medium for allowing a mobile robot to simultaneously perform a cleaning process and a map-creating process. The apparatus includes a feature-map-creating unit creating a feature map for recognizing the position of a mobile robot; a path-map-creating unit creating a path map including a plurality of cells, each having information about whether an obstacle exists and path information, on the basis of information on the pose of the mobile robot that is obtained from the feature map; and a motion-control unit moving the mobile robot on the basis of the information about whether the obstacle exists and the path information.

Abstract: An apparatus and a method for providing music file search function. The apparatus includes an input unit that receives an input of an attribute of a music file to be played, an extract unit that extracts a characteristic segment from the music file according to the input attribute, a 3D-sound generating unit that generates 3D sound from the characteristic segment of the music file along a spatial axis corresponding to the attribute, and an output unit that outputs the 3D sound. The method includes the steps of inputting an attribute of a music file to be played, searching a characteristic segment of the music file according to the input attribute, generating 3D sound from the characteristic segment of the music file along a spatial-axis corresponding to the attribute, and outputting the 3D sound.

Abstract: 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.

Abstract: An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pairs of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map.

Abstract: Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter.

Abstract: A method, medium, and system reducing the computational complexity of a Simultaneous Localization And Mapping (SLAM) algorithm that can be applied to mobile robots. A system estimating the pose of a mobile robot with the aid of a particle filter using a plurality of particles includes a sensor which detects a variation in the pose of a mobile robot, a particle filter unit which determines the poses and weights of current particles by applying the detected pose variation to previous particles, and an evolution unit which updates the poses and weights of the current particles by applying an evolution algorithm to the poses and weights of the current particles.