Abstract: A robot localization system is provided. The robot localization includes a robot, which moves within a predetermined space and performs predetermined tasks, and a docking station corresponding to a home position of the robot. The docking station includes a first transmitting unit, which transmits a sound wave to detect a position of the robot; and a second transmitting unit, which transmits a synchronizing signal right when the sound wave is transmitted.

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: A method of measuring pose of mobile robot, and method and apparatus for measuring for measuring position of mobile robot using the same are provided. The apparatus for measuring the pose of a mobile robot includes an accelerometer measuring acceleration of the mobile robot in a forward direction, a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section, and a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity.

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 robot localization system is provided. The robot localization includes a robot, which moves within a predetermined space and performs predetermined tasks, and a docking station corresponding to a home position of the robot. The docking station includes a first transmitting unit, which transmits a sound wave to detect a position of the robot; and a second transmitting unit, which transmits a synchronizing signal right when the sound wave is transmitted.

Abstract: Disclosed herein are a method and apparatus to induce sound sleep and waking, selecting a protocol to control a sound sleep and waking environment depending on a sleep type selected by a user; adjusting the sleep environment of the user according to the selected protocol; determining a sleep state of the user by measuring physiological signals of the user during sleep in the sleep environment using a sensor which does not contact a body of the user; detecting variation in the physiological signals of the user; and re-adjusting the sleep environment by changing parameters of the protocol depending on the detected variation in the physiological signals. As a result, there is an advantage in that it is possible to naturally induce sound sleep and waking.

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 method and apparatus generating and tracing a cleaning trajectory of a home cleaning robot the method including: controlling the home cleaning robot to straightly travel as much as a set distance from the docking station and then rotationally travel, maintaining the set distance from the docking station, until the home cleaning robot reaches one of two walls; controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls; and repeatedly controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance un

Abstract: Provided is a method and apparatus for relocating a mobile robot when the mobile robot loses its position due to slipping. The method includes storing a moving path of the mobile robot and effective points on the moving path capable of finding an absolute position from a peripheral image; detecting an abnormal motion of the mobile robot; and when the abnormal motion of the mobile robot is detected, controlling the mobile robot to move to the effective point along a predetermined return path.

Abstract: A system, apparatus, and method of preventing a collision of a remote-controlled mobile robot are disclosed. The system includes a mobile robot transmitting image data taken by a camera mounted on the mobile robot and moving in accordance with received control data, and a control appliance receiving and analyzing the image data, displaying the analyzed result on a screen, and transmitting the control data to the mobile robot.

Abstract: An apparatus correcting a bias of a gyroscope that is mounted on a mobile robot and that measures an angular velocity of the mobile robot. The apparatus includes: at least one encoder respectively measuring a traveling velocity of a respective at least one wheel of the mobile robot; a modeling unit calculating an angular velocity of the mobile robot by using the measured traveling velocity; a bias presuming unit determining a confidence range by using difference values between the calculated angular velocity and the measured angular velocity, and calculating a presumed bias by using a value in a confidence range among the difference values; and a bias removing unit removing the presumed bias from the measured angular velocity.

Abstract: Provided are a moving apparatus and an apparatus, method, and medium for compensating position based on a position recognition technology. The moving apparatus which provides a function for correcting a position includes a sensing unit obtaining multiple state information reflecting one or more abnormal movement states generated by movements of the moving apparatus; a state determination unit determining whether or not the abnormal movement state is generated by self-contained navigation, by referring to the obtained multiple state information; and a position information calculation unit calculating final position information of the moving apparatus, by correcting the multiple state information as the abnormal movement state occurs.

Abstract: An apparatus and method to detect a blood flow signal free from a motion artifact, and a stress test apparatus using the same, enhance data reliability of the blood flow signal by removing the motion artifact from the blood flow signal detected by photo-plethysmography. The apparatus to detect the blood flow signal includes a base pattern correlation coefficient calculating unit to determine peak points in the blood flow signal sensed from a body of an examinee using a blood flow sensing unit, and to calculate correlation coefficients of each peak point using a predetermined base pattern, and a motion artifact processing unit to determine the motion artifact using the calculated correlation coefficients and to remove the motion artifact from the blood flow signal. Thus, reliability of the blood flow signal is enhanced by effectively removing the motion artifact from the blood flow signal detected by the photo-plethysmography.

Abstract: A human body communication system. The human body communication system includes a controlled device measuring a capacitance that corresponds to the distance to a human body, and transmitting information on the measured capacitance through a wireless medium; and a control device receiving the information, and then, based on the information, determining a transmission power and, with the determined transmission power, transmitting a control command of a user to the controlled device using the human body as a medium.

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: 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: Provided are a method, apparatus, and medium for measuring a distance using a radio frequency (RF) signal. The method of measuring a distance includes setting the transmitter power of an RF signal of a signal generating module to a minimum so as to measure the longest distance when no obstacle exists, measuring a distance between the signal generating module and a fixed module using the RF signal whose transmitter power is set to the minimum, if the measured distance between the signal generating module and the fixed module is available, determining that no obstacle exists therebetween, and if the measured distance is not available, determining that an obstacle exists therebetween, and determining the distance according to the result of the determination of existence of an obstacle.

Abstract: A method of calibrating a compass sensor in consideration of a magnetic environment is provided. The method includes (a) acquiring magnetic force data by rotating a compass sensor 360 degrees, the compass sensor including a biaxial magnetometer, (b) fitting the acquired magnetic force data to an ellipse function, (c) transforming the acquired magnetic force data and the ellipse function into a circle which is centered on an origin, and (d) calculating a distortion factor based on an inclination of a major axis of the ellipse function or the acquired magnetic force data to a horizontal axis, the distortion factor indicating the degree to which a magnetic field is distorted.