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Apparatus and Method for Building Indoor Map using Geometric Features and Probability Method
Apparatus and Method for Building Indoor Map using Geometric Features and Probability Method
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机译：利用几何特征和概率法建立室内地图的装置和方法
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摘要
The present invention unmanned robot to navigate a tough place to people such as the contaminated area, or special environment explore geometric features (nuclear power plant explosion, deepwater exploration, contamination area, etc.) and creates a map conveys information and probabilistic and the first position measuring unit which serves to provide an indoor map generation apparatus and method using a technique extracts a line having the geometrical features extracted by the data analysis the sensor detects that the environment to measure the current position, the laser rangefinder (Laser Range Finder), an encoder (encoder), a gyroscope (gyroscope) using at least one of the theoretical probability of the data sensed by the sensor how to analyze the running data of the mobile robot in the second position measurement for measuring a current position part and , ring map using dynamic obstacles around the mobile robot being a driving determination by using the laser rangefinder Detecting a candidate feature point in the based on the static obstacles make changes from the obstacle determining unit, and the obstacle determining unit to determine the static obstacles in then, using the current position is measured at the first position measurement and the second position measuring section and there consists, including the feature point extraction section which extracts a feature point from the current position information of the feature point candidate, the old map and the feature point mapping unit to generate the map by performing the mapping between the current feature point extracted by the feature point extraction unit.;
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机译：本发明的无人机器人可以在人难的地方导航，例如受污染的区域，或在特殊环境中探索几何特征（核电站爆炸，深水勘探，污染区域等）并创建传达信息和概率的地图，位置测量单元，用于提供一种室内地图生成设备和方法，使用一种技术来提取一条线，该线具有通过传感器分析检测到环境以测量当前位置的数据分析所提取的几何特征，激光测距仪（Laser Range Finder）编码器（编码器），陀螺仪（陀螺仪），至少利用传感器感测到的数据的理论概率之一，在第二位置测量中分析移动机器人的运行数据以测量当前位置部分，并振铃通过使用激光测距仪来确定移动机器人周围的动态障碍物的行驶地图，这是驾驶决策基于静态障碍物的候选特征点从障碍物确定单元进行更改，然后由障碍物确定单元确定静态障碍物，然后使用当前位置在第一位置测量和第二位置测量部分进行测量，并包括特征点提取部分，该特征点提取部分从特征点候选者的当前位置信息中提取特征点，旧地图和特征点映射单元，以通过执行由特征点提取器提取的当前特征点之间的映射来生成地图。特征点提取单元。
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