Abstract: A display device includes a display layer including pixels each including at least one transistor, a connection wiring electrically connected to the at least one transistor and exposed to a lower surface of the display layer through a first contact hole in the display layer, a base member disposed under the display layer and including a first hole exposing the connection wiring exposed to the lower surface of the display layer, a first lower protective layer disposed on a lower surface of the base member and including a second hole overlapping the first hole, a pad portion disposed on a lower surface of the first lower protective layer, and a lead line disposed on the lower surface of the first lower protective layer and electrically connecting the pad portion and the connection wiring. A tiled display device includes multiple display devices.

Abstract: An apparatus and method generating a grid map are provided. The grid map generating apparatus generates a grid map while turning 360 degrees at a dynamically adjustable rotational velocity. The dynamically adjustable rotational velocity allows grid points to have equal intervals on the grid map. The grid map generating apparatus generates a grid map while making a complete turn, and generates a grid map corresponding to a non-linear section while making another turn.

Abstract: A technique of detecting a slip of a robot using a particle filter and feature information of a ceiling image is disclosed. A first position of the robot is computed using a plurality of particles, a second position of the robot is computed using the feature information of the ceiling image, and whether a slip has occurred is determined based on a distance between the first position and the second position.

Abstract: An apparatus and method of planning a traveling path of a mobile robot, the apparatus and method including a pattern extracting unit, a pattern direction extracting unit, and a path generating unit. The pattern extracting unit may extract at least one pattern from an image of a ceiling captured in a ceiling direction. The pattern direction extracting unit may extract a pattern direction of the image in the form of a line from the at least one extracted pattern. The path generating unit may generate a traveling path of the mobile robot based on the extracted pattern direction.

Abstract: An apparatus and method for generating a path using a limited memory size are provided. An approximate path is generated based on a reduced grid map generated by reducing an original grid map. Then, an approximate path is mapped onto the original grid map, and the mapped path is enlarged and divided into a plurality of sections based on an available memory size used for path calculation. Based on a start point and a destination point set in each of the divided sections, a detailed path in each of the sections is generated.

Abstract: A system building a map while an image sensor is moving, the system including the image sensor configured to capture images while the image sensor moves relative to one or more different locations, a sub-map building unit configured to recognize a relative location for at least the image sensor of the system using the captured images, build up a sub-map, and if a condition for stopping a building of the sub-map is met, store the sub-map which has been so far built up, an operation determining unit configured to determine whether the condition for stopping building the sub-map, an image group storing unit configured to store an image group including images that are newly captured from the image sensor after the storing of the sub-map when the condition for the stopping of the building of the sub-map is satisfied, and an overall map building unit configured to build an overall map based on the built sub-map and the stored image group when a current relative location for at least the image sensor of the system i

Abstract: Disclosed are a map building apparatus and method using a distance measurement. According to an aspect, by creating a first map and a second map respectively using the characteristics of different characteristic areas based on a distance-voltage characteristics of a distance measurement sensor, and combining the first map with the second map, a grid map is created. Accordingly, since a map regarding a peripheral environment is created using plural areas of the distance-voltage characteristics, a more accurate map may be created.

Abstract: Localization and map building apparatus and method applicable to a mobile robot are provided. In an exemplary embodiment, a map building apparatus extracts a pattern of landmarks of the same kind and adjusts a landmark map using the extracted pattern when generating the landmark map for localization. Accordingly, since the landmark map is adjusted based on the pattern extracted on the basis of location information of each landmark, accuracy of localization and map building of the mobile robot can be improved.

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: 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 method for localizing a mobile robot are provided. The method includes building a forward image map including features extracted according to position at which the mobile robot takes forward images and feature descriptors of the extracted features, and localizing the mobile robot on the basis of features extracted from a newly input forward image and the built forward image map.

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: An apparatus, method, and medium for sensing a slip in a mobile robot is provided. The apparatus for sensing a slip in a mobile robot includes a driving motor control unit to control a driving motor that rotates a plurality of driving wheels of the mobile robot, a first rotation sensor to sense a first rotation angle of the mobile robot by using the difference between traveling distances of the plurality of driving wheels, a second rotation sensor to sense a second rotation angle of the mobile robot by sensing a rotation of the mobile robot, and a slip-sensing unit to sense the slip of the mobile robot by comparing the first rotation angle with the second rotation angle. The driving motor control unit controls the driving motor to travel straight in a specified pattern.

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

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 building a map while an image sensor is moving, the system including the image sensor configured to capture images while the image sensor moves relative to one or more different locations, a sub-map building unit configured to recognize a relative location for at least the image sensor of the system using the captured images, build up a sub-map, and if a condition for stopping a building of the sub-map is met, store the sub-map which has been so far built up, an operation determining unit configured to determine whether the condition for stopping building the sub-map, an image group storing unit configured to store an image group including images that are newly captured from the image sensor after the storing of the sub-map when the condition for the stopping of the building of the sub-map is satisfied, and an overall map building unit configured to build an overall map based on the built sub-map and the stored image group when a current relative location for at least the image sensor of the system i

Abstract: An apparatus and method with traveling path planning of a mobile robot within a space along an inherent direction of the space. The apparatus may include a pattern extracting unit, a pattern direction extracting unit, and a path generating unit. The pattern extracting unit may extract at least one of pattern from a ceiling image captured by photographing in a ceiling direction. The pattern direction extracting unit may extract a pattern direction in the form of a line from the extracted pattern. The path generating unit may generate a traveling path using the extracted pattern direction.

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 and method generating a grid map are provided. The grid map generating apparatus generates a grid map while turning 360 degrees at a dynamically adjustable rotational velocity. The dynamically adjustable rotational velocity allows grid points to have equal intervals on the grid map. The grid map generating apparatus generates a grid map while making a complete turn, and generates a grid map corresponding to a non-linear section while making another turn.

Abstract: An apparatus and method for detecting a slip of a robot. According to the apparatus and method, the probability of a slip occurring may be preliminarily determined using a first acceleration obtained from an acceleration sensor and a second acceleration obtained from an encoder. Then, finally the occurrence of a slip may be determined using a change in a driving control signal. Thus, accurate detection of a slip can be realized while preventing incorrect determination of slip occurrence.