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 robot having an obstacle detection unit and a method of controlling the robot. The robot includes a main body, a driving unit, an auxiliary body, and a control unit. The driving unit drives the main body along a given surface. The auxiliary body projects from the main body and detecting an obstacle around the main body. The control unit controls the driving unit according to results of the detection so that the main body and the obstacle are maintained at a predetermined distance from each other.

Abstract: A microphone array system including an input unit to receive sound signals using a plurality of microphones; a frequency splitter splitting each sound signal received into a plurality of narrowband signals; an average spatial covariance matrix estimator using spatial smoothing to obtain a spatial covariance matrix for each frequency component of the sound signal, by which spatial covariance matrices for a plurality of virtual sub-arrays, which are configured in the plurality of microphones, are obtained with respect to each frequency component of the sound signal and an average spatial covariance matrix is calculated; a signal source location detector to detect an incidence angle of the sound signal according to the average spatial covariance matrix calculated; a signal distortion compensator to calculates a weight for each frequency component of the sound signal based on the incidence angle of the sound signal and multiply the calculated weight by each frequency component.

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: Disclosed is an emotion recognition apparatus and method thereof which enables perception of a user's emotional state by monitoring one or more of his or her physiological signals. The emotion recognition apparatus comprises a feature analyzer adapted to analyze features of the physiological signals acquired from a user and generate feature values, a subtractor adapted to obtain differences between the feature values generated by the feature analyzer and feature values used as a standard to perceive an emotional state of the user, and an emotion classifier adapted to analyze the differences obtained by the subtractor and classify an emotion into a plurality of emotional categories so as to perceive an emotional category exhibiting the greatest intensity to be the emotional state of the user.

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, 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: A method and apparatus allowing a mobile robot to return to a designated location the method including: calculating a first direction angle of the mobile robot at a second location arrived at after the mobile robot travels a predetermined distance from the first location; determining whether the mobile robot approaches or moves away from the designated location, at a third location arrived at after the mobile robot rotates by the first direction angle and then travels a predetermined distance; and if the result of the determination indicates that the mobile robot approaches the docking station, controlling the mobile robot to travel according to the first direction angle, and if the result indicates the mobile robot moves away from the docking station, calculating a second direction angle of the mobile robot at the third location, and controlling the mobile robot to travel according to the second direction angle.

Abstract: Provided are a method, system, and medium for estimating a location of a remote controller using ultrasonic waves. The method includes receiving a plurality of signals transmitted from the remote controller, measuring time delays between an infrared signal and ultrasonic signals included in each of the received signals, estimating the location of the remote controller with respect to each of the received signals using the measured time delays, and estimating the final location of the remote controller based on the estimated locations of the remote controller.

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 calculating the position of a robot, which determine the position of a robot and create a map of the surroundings of the robot which account for the travel state of the robot. The apparatus includes a state variable calculation module which calculates a plurality of state variables regarding a travel state of the robot by using a plurality of Kalman filters; a travel state determination module which determines the travel state of the robot based on the results of the calculation performed by the state variable calculation module; and a state variable update module which updates the state variables according to the result of the determination performed by the travel state determination module.

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: Provided is an apparatus for recognizing the position of a mobile robot. The apparatus includes an image capturing unit which is loaded into a mobile robot and captures an image; an illuminance determining unit which determines illuminance at a position where an image is to be captured; a light-emitting unit which emits light toward the position; a light-emitting control unit which controls the light-emitting unit according to the determined illuminance; a driving control unit which controls the speed of the mobile robot according to the determined illuminance; and a position recognizing unit which recognizes the position of the mobile robot by comparing a pre-stored image to the captured image.

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: 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: 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: Provided are a system, method and medium calibrating a gyrosensor of a mobile robot. The system includes a camera to obtain image data of a fixed environment, a rotation angle calculation unit to calculate a plurality of angular velocities of a mobile robot based on an analysis of the image data, a gyrosensor to output a plurality of pieces of raw data according to rotation inertia of the mobile robot and a scale factor calculation unit to calculate a scale factor that indicates the relationship between the pieces of raw data and the angular velocities.

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: An apparatus, method, and medium for distinguishing the movement state of a mobile robot are provided. The apparatus includes at least one driving wheel rotatably driven by a driving motor, a first rotation sensor to sense rotation of the driving wheel, at least one caster wheel installed corresponding to the driving wheel and freely moving with respect to a bottom surface, a second rotation sensor to sense rotation of the caster wheel, an acceleration sensor to measure acceleration of the mobile robot, an angular velocity sensor to measure angular velocity of the mobile robot, and a movement-state-distinguishing unit to distinguish movement states of the mobile robot through comparison of the velocity or acceleration of the driving wheel obtained by the first rotation sensor, the velocity or acceleration of the caster wheel obtained by the second rotation sensor, the acceleration obtained by the acceleration sensor, and the angular velocity obtained by the angular velocity sensor.