Abstract: Disclosed herein are an apparatus and method for generating a topological map for navigation of a robot. The method for generating a topological map for navigation of a robot, performed by the apparatus for building the topological map for the navigation of the robot, includes calculating the physical size of a single pixel on a metric map of a space in which a mobile robot is to navigate, extracting the physical coordinates of the pixel on the metric map, building node data and edge data for the navigation of the mobile robot using the physical coordinates, and generating a topological map for the navigation of the mobile robot based on the built node data and the built edge data.

Abstract: Disclosed herein are an apparatus and method for global localization for a dynamic environment using a 3D LiDAR scanner. The method may include generating a 2D grid map from 3D point cloud data acquired using the 3D LiDAR scanner, searching for the 2D global position of a vehicle on the 2D grid map using data acquired from the 3D LiDAR scanner, and mapping the 2D global position to a 6-DOF position in the 3D space.

Abstract: Disclosed herein is a method for detecting laser reflectors for mobile robot localization. The method includes collecting scan information data corresponding to positions of surrounding objects using a laser scanner mounted on a mobile robot; generating a reflector cluster based on reflection intensities of the scan information data; classifying the reflector cluster into individual reflector clusters, each of the individual reflector clusters corresponding to each of the laser reflectors; determining whether each of the individual reflector clusters is a valid individual reflector cluster corresponding to an actual individual laser reflector or not based on geometric filtering on die each of the individual reflector clusters; and calculating position of the actual individual laser reflector based on at least one of the scan information data corresponding to the valid individual reflector cluster.

Abstract: Disclosed herein are an autonomous driving robot apparatus and an autonomous driving method. The autonomous driving method of the autonomous driving robot apparatus includes receiving task information for autonomous driving from a server device for supporting autonomous driving; creating a route for autonomous driving based on the task information and performing autonomous driving; and selecting an autonomous driving operation corresponding to any one of moving, waiting, and wandering when arriving at a preset destination by performing autonomous driving along the route.

Abstract: Disclosed herein are an apparatus and method for generating a topological map for navigation of a robot. The method for generating a topological map for navigation of a robot, performed by the apparatus for building the topological map for the navigation of the robot, includes calculating the physical size of a single pixel on a metric map of a space in which a mobile robot is to navigate, extracting the physical coordinates of the pixel on the metric map, building node data and edge data for the navigation of the mobile robot using the physical coordinates, and generating a topological map for the navigation of the mobile robot based on the built node data and the built edge data.

Abstract: Disclosed herein are an autonomous driving robot apparatus and an autonomous driving method. The autonomous driving method of the autonomous driving robot apparatus includes receiving task information for autonomous driving from a server device for supporting autonomous driving; creating a route for autonomous driving based on the task information and performing autonomous driving; and selecting an autonomous driving operation corresponding to any one of moving, waiting, and wandering when arriving at a preset destination by performing autonomous driving along the route.

Abstract: An apparatus for recognizing an indoor location using an RSSI (Received Signal Strength Intensity) map, includes an environment information acquirer configured to acquire indoor environment information and store the acquired indoor environment information on a node basis; a numerical map creator configured to create a numerical map; a field intensity creator configured to create the RSSI map; a dead-reckoning sensor configured to locate an area less than several meters within which the environment information acquire is actually located to locate a more accurate location within the area; a path information producer configured to produce path information including movable potential trajectories; and an initializer configured to initialize an initialization location of one or more candidate entities and fingerprint information.

Abstract: A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position with the measured position, and creating the indoor environment map using the corrected position and the measured distance.

Abstract: The method for building an outdoor map for a moving object according to an exemplary embodiment of the present invention includes: receiving a real satellite image for an outdoor space to which the moving object is to move; calculating pixel information including sizes of length and width pixels and a physical distance of one pixel in the real satellite image; measuring a reference position coordinate for a reference position selected from the real satellite image; and linking a pixel number corresponding to the reference position, the reference position coordinate, and the pixel information to the real satellite image in order to build the outdoor map for the moving object, and further includes creating information on a road network in which the moving object navigates based on the pixel number corresponding to the reference position, the reference position coordinate, and the pixel information.

Abstract: An apparatus for recognizing an indoor location using an RSSI (Received Signal Strength Intensity) map, includes an environment information acquirer configured to acquire indoor environment information and store the acquired indoor environment information on a node basis; a numerical map creator configured to create a numerical map; a field intensity creator configured to create the RSSI map; a dead-reckoning sensor configured to locate an area less than several meters within which the environment information acquire is actually located to locate a more accurate location within the area; a path information producer configured to produce path information including movable potential trajectories; and an initializer configured to initialize an initialization location of one or more candidate entities and fingerprint information.

Abstract: A mobile robot having a returning mechanism includes one or more moving members mounted on a body of the mobile robot; and a cable member connected to one side of the mobile robot so as to supply the mobile robot with electrical power. Further, the mobile robot includes a returning member having a rigidity stronger than the cable member and disposed to wrap the cable member so that the cable member is placed within the returning member; and a take-up unit configured to pull the returning member to keep it taut.

Abstract: An apparatus for recognizing a position of a moving object includes a sensor information collector to collect sensor information associated with movement of the moving object, a camera to capture a front image based on the movement of the moving object, and a GPS receiver configured to receive a GPS position of the moving object. Further, the apparatus includes a location recognizer to display N number of particles, each of which indicates a candidate position of the moving object, in a certain region about a GPS location of the moving object on a map. The location recognizer then updates a location of the particles based on the movement of the moving object, and progressively reduces number of particles on the basis of accuracy of the position-updated particles, thereby recognizing the position of the moving object.

Abstract: An apparatus for providing information on an indoor infrastructure includes a search request receiving unit configured to receive a search request for a specific indoor space from any terminal. Further, the apparatus includes an information providing unit configured to transmit a map and spatial information corresponding to the specific indoor space to the terminal for the display thereof. Furthermore, the apparatus includes a node information providing unit configured to, when a specific node is selected in the displayed map and spatial information, search a video image, POI information or location information corresponding to the specific node and provide the searched result to the terminal.

Abstract: The method for building an outdoor map for a moving object according to an exemplary embodiment of the present invention includes: receiving a real satellite image for an outdoor space to which the moving object is to move; calculating pixel information including sizes of length and width pixels and a physical distance of one pixel in the real satellite image; measuring a reference position coordinate for a reference position selected from the real satellite image; and linking a pixel number corresponding to the reference position, the reference position coordinate, and the pixel information to the real satellite image in order to build the outdoor map for the moving object, and further includes creating information on a road network in which the moving object navigates based on the pixel number corresponding to the reference position, the reference position coordinate, and the pixel information.

Abstract: A method of creating a map of artificial marks includes acquiring a position in which a moving object is moved, detecting each of the artificial marks to obtain an image thereof, calculating a relative position of the detected artificial mark, calculating a position of the detected artificial mark in a global coordinate system using the relative position, and storing the calculated position and an ID of the detected artificial mark in a map database to create the map of the artificial marks. Further, a method of measuring a position of a moving object includes detecting an artificial mark within a search range calculating a relative position of the detected artificial mark, and calculating a position of the moving object using the calculated relative position and a position in a global coordinate system corresponding to the relative position of the detected artificial mark from the map database.

Abstract: A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position with the measured position, and creating the indoor environment map using the corrected position and the measured distance.

Abstract: Provided is an apparatus for detecting the tension, moving direction, and length of a connector. The detecting apparatus includes a connector including one end connected inside the movement detecting apparatus and other end disposed at an outer side of the movement detecting apparatus, a tension detector measuring a tension force applied to the connector by detecting a minute change in a parameter of the tension detector when the other end of the connector is pulled away from the movement detecting apparatus, a direction detector measuring a movement of the connector in horizontal and vertical directions in a plane substantially perpendicular to the tension so as to detect a direction of the tension force applied to the connector, and a length detector detecting a length of the connector extended from the movement detecting apparatus by the tension force applied to the connector.

Abstract: A method of responding to environmental change to build an environment map of a mobile apparatus and an apparatus thereof are disclosed. The apparatus includes a traveling unit traveling a mobile apparatus according to a command, a distance measuring unit measuring a distance from the mobile apparatus to a moving object, an environment map-generating unit generating an environment map based on a measured distance, a moving object detecting unit detecting the moving object moved after generating the environment map by comparing a distance from the mobile apparatus to the moving object with the newly measured distance, and a controlling unit updating the environment map according to the command by selectively applying changed environment information containing the moving object to the built environment map when the moving object is detected. Thus, the changed environmental information can be rapidly and precisely applied to build the environment map.

Abstract: Provided are an autonomous mobile robot capable of detouring an obstacle, and a method thereof. The autonomous mobile robot includes a moving object; an extension unit connected to the moving object and extending in proportion to a pulling force of the moving object; a drive unit moving the autonomous mobile robot toward the moving object corresponding to the pulling force of the object connected to the extension unit; a route information obtaining unit obtaining route information according to an extension length to which the extension unit extends corresponding to the pulling force of the moving object; an obstacle detecting unit detecting presence of an obstacle placed within a predetermined distance in a moving direction of the autonomous mobile robot that is being led by the moving object; and a control unit controlling the drive unit such that the autonomous mobile robot moves along a route based on the route information.

Abstract: Provided is an apparatus for detecting the tension, moving direction, and length of a connector. The detecting apparatus includes a connector including one end connected inside the movement detecting apparatus and other end disposed at an outer side of the movement detecting apparatus, a tension detector measuring a tension force applied to the connector by detecting a minute change in a parameter of the tension detector when the other end of the connector is pulled away from the movement detecting apparatus, a direction detector measuring a movement of the connector in horizontal and vertical directions in a plane substantially perpendicular to the tension so as to detect a direction of the tension force applied to the connector, and a length detector detecting a length of the connector extended from the movement detecting apparatus by the tension force applied to the connector.