HK1211352A1 - Method and apparatus for simultaneous localization and mapping of mobile robot environment - Google Patents

Method and apparatus for simultaneous localization and mapping of mobile robot environment

Info

Publication number
HK1211352A1
HK1211352A1 HK15112036.4A HK15112036A HK1211352A1 HK 1211352 A1 HK1211352 A1 HK 1211352A1 HK 15112036 A HK15112036 A HK 15112036A HK 1211352 A1 HK1211352 A1 HK 1211352A1
Authority
HK
Hong Kong
Prior art keywords
mapping
mobile robot
simultaneous localization
robot environment
environment
Prior art date
Application number
HK15112036.4A
Other languages
English (en)
Chinese (zh)
Inventor
．索夫曼
．俄馬科夫
．埃莫裡奇
．蒙森
．亞歷山大
Original Assignee
Neato Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Neato Robotics Inc filed Critical Neato Robotics Inc
Publication of HK1211352A1 publication Critical patent/HK1211352A1/xx

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
HK15112036.4A 2009-08-31 2015-12-07 Method and apparatus for simultaneous localization and mapping of mobile robot environment HK1211352A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US23859709P 2009-08-31 2009-08-31

Publications (1)

Publication Number Publication Date
HK1211352A1 true HK1211352A1 (en) 2016-05-20

Family

ID=42941963

Family Applications (1)

Application Number Title Priority Date Filing Date
HK15112036.4A HK1211352A1 (en) 2009-08-31 2015-12-07 Method and apparatus for simultaneous localization and mapping of mobile robot environment

Country Status (10)

Country Link
US (4) US20110082585A1 (xx)
EP (1) EP2473890B1 (xx)
JP (2) JP2013503404A (xx)
KR (1) KR101362961B1 (xx)
CN (2) CN104699099B (xx)
AU (1) AU2010286429B2 (xx)
CA (2) CA2772636A1 (xx)
HK (1) HK1211352A1 (xx)
NZ (1) NZ598500A (xx)
WO (1) WO2011026119A2 (xx)

Families Citing this family (102)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8209143B1 (en) * 2009-09-15 2012-06-26 Google Inc. Accurate alignment of multiple laser scans using a template surface
JP5429986B2 (ja) * 2009-12-25 2014-02-26 株式会社Ｉｈｉエアロスペース 移動ロボットの遠方環境認識装置及び方法
US20120195491A1 (en) * 2010-07-21 2012-08-02 Palo Alto Research Center Incorporated System And Method For Real-Time Mapping Of An Indoor Environment Using Mobile Robots With Limited Sensing
JP5452442B2 (ja) * 2010-10-25 2014-03-26 株式会社日立製作所 ロボットシステム及び地図更新方法
US8798840B2 (en) * 2011-09-30 2014-08-05 Irobot Corporation Adaptive mapping with spatial summaries of sensor data
CN105308414B (zh) 2012-06-27 2018-07-06 滨特尔水池水疗公司 具有激光测距仪系统的水池清洁器和方法
KR101807484B1 (ko) 2012-10-29 2017-12-11 한국전자통신연구원 객체 및 시스템 특성에 기반한 확률 분포 지도 작성 장치 및 그 방법
US9020637B2 (en) * 2012-11-02 2015-04-28 Irobot Corporation Simultaneous localization and mapping for a mobile robot
CN103903253B (zh) * 2012-12-28 2017-06-27 联想(北京)有限公司 一种可移动终端定位方法及系统
CN103901774B (zh) * 2012-12-28 2017-02-08 联想(北京)有限公司 高效鲁棒的基于多传感器的slam协调方法及系统
US9677890B2 (en) * 2013-01-10 2017-06-13 Intel Corporation Positioning and mapping based on virtual landmarks
JP2014203145A (ja) * 2013-04-02 2014-10-27 パナソニック株式会社 自律移動装置
CN103412565B (zh) * 2013-05-17 2016-01-27 浙江中控研究院有限公司 一种具有全局位置快速估计能力的机器人定位方法
US9037396B2 (en) * 2013-05-23 2015-05-19 Irobot Corporation Simultaneous localization and mapping for a mobile robot
KR102096398B1 (ko) 2013-07-03 2020-04-03 삼성전자주식회사 자율 이동 로봇의 위치 인식 방법
KR101505129B1 (ko) 2013-08-19 2015-03-23 부경대학교 산학협력단 레이저 스캐너를 이용한 위치인식 및 맵핑 시스템을 이용한 위치인식 방법
KR102193768B1 (ko) 2014-01-14 2020-12-22 삼성전자주식회사 로봇 및 로봇의 제어 방법
US9886036B2 (en) * 2014-02-10 2018-02-06 John Bean Technologies Corporation Routing of automated guided vehicles
CN103984037B (zh) * 2014-04-30 2017-07-28 深圳市墨克瑞光电子研究院 基于视觉的移动机器人障碍物检测方法和装置
US9259838B1 (en) 2014-07-24 2016-02-16 Google Inc. Systems and methods for ground plane estimation
US10127667B2 (en) * 2014-08-01 2018-11-13 Locuslabs, Inc. Image-based object location system and process
FR3025325B1 (fr) * 2014-09-01 2016-12-30 Valeo Schalter & Sensoren Gmbh Dispositif et procede de localisation et de cartographie
AU2015322263B2 (en) * 2014-09-24 2018-03-22 Samsung Electronics Co., Ltd. Cleaning robot and method for controlling cleaning robot
CN104597900A (zh) * 2014-12-02 2015-05-06 华东交通大学 一种基于类电磁机制优化的FastSLAM方法
EP3234721B1 (en) 2014-12-17 2021-11-24 Husqvarna AB Multi-sensor, autonomous robotic vehicle with mapping capability
EP3234718B1 (en) 2014-12-17 2018-10-24 Husqvarna AB Robotic vehicle learning site boundary
TWI548891B (zh) * 2015-01-12 2016-09-11 金寶電子工業股份有限公司 掃地機定位系統及其定位方法
CN104858871B (zh) * 2015-05-15 2016-09-07 珠海市一微半导体有限公司 机器人系统及其自建地图和导航的方法
CN106325266A (zh) * 2015-06-15 2017-01-11 联想(北京)有限公司 一种空间分布图的构建方法及电子设备
KR101734654B1 (ko) * 2015-06-25 2017-05-11 현대자동차주식회사 레이저 스캐너를 이용한 센서 중심 좌표계의 점유 격자 지도를 작성하는 시스템 및 방법
DE102015111613A1 (de) 2015-07-17 2017-01-19 Still Gmbh Verfahren zur Hinderniserfassung bei einem Flurförderzeug
JP6849330B2 (ja) * 2015-08-28 2021-03-24 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 地図生成方法、自己位置推定方法、ロボットシステム、およびロボット
CN106584451B (zh) * 2015-10-14 2019-12-10 国网智能科技股份有限公司 一种基于视觉导航的变电站自动构图机器人及方法
US10093021B2 (en) * 2015-12-02 2018-10-09 Qualcomm Incorporated Simultaneous mapping and planning by a robot
WO2017116492A1 (en) * 2015-12-31 2017-07-06 Olney Guy Method for integrating parallel streams of related sensor data generating trial responses without prior knowledge of data meaning or the environment being sensed
DE102016203547A1 (de) 2016-03-03 2017-09-07 Kuka Roboter Gmbh Verfahren zum Aktualisieren einer Belegungskarte und autonomes Fahrzeug
US9864377B2 (en) 2016-04-01 2018-01-09 Locus Robotics Corporation Navigation using planned robot travel paths
CN105892461B (zh) * 2016-04-13 2018-12-04 上海物景智能科技有限公司 一种机器人所处环境与地图的匹配识别方法及系统
JP6508114B2 (ja) 2016-04-20 2019-05-08 トヨタ自動車株式会社 移動体の自動運転制御システム
US9996944B2 (en) * 2016-07-06 2018-06-12 Qualcomm Incorporated Systems and methods for mapping an environment
US10274325B2 (en) * 2016-11-01 2019-04-30 Brain Corporation Systems and methods for robotic mapping
US10120386B2 (en) * 2016-11-18 2018-11-06 Robert Bosch Start-Up Platform North America, LLC, Series 1 Robotic creature and method of operation
CN108107882B (zh) * 2016-11-24 2021-07-06 中国科学技术大学 基于光学运动跟踪的服务机器人自动标定与检测系统
CA3058420C (en) * 2017-03-30 2023-10-10 Crown Equipment Corporation Warehouse mapping tools
US10394246B2 (en) 2017-03-31 2019-08-27 Neato Robotics, Inc. Robot with automatic styles
CN106919174A (zh) * 2017-04-10 2017-07-04 江苏东方金钰智能机器人有限公司 一种智能引导机器人的引导方法
US10761541B2 (en) * 2017-04-21 2020-09-01 X Development Llc Localization with negative mapping
US10551843B2 (en) 2017-07-11 2020-02-04 Neato Robotics, Inc. Surface type detection for robotic cleaning device
US10918252B2 (en) 2017-07-27 2021-02-16 Neato Robotics, Inc. Dirt detection layer and laser backscatter dirt detection
GB201718507D0 (en) 2017-07-31 2017-12-27 Univ Oxford Innovation Ltd A method of constructing a model of the motion of a mobile device and related systems
CA3073151C (en) 2017-08-16 2021-02-16 Sharkninja Operating Llc Robotic vacuum
US11339580B2 (en) 2017-08-22 2022-05-24 Pentair Water Pool And Spa, Inc. Algorithm for a pool cleaner
DE102018121335A1 (de) 2017-08-31 2019-02-28 Neato Robotics, Inc. Robotergestützte virtuelle grenzen
US10583561B2 (en) 2017-08-31 2020-03-10 Neato Robotics, Inc. Robotic virtual boundaries
JP2019047848A (ja) * 2017-09-07 2019-03-28 パナソニックＩｐマネジメント株式会社 自律走行掃除機、および、累積床面確率更新方法
US10429847B2 (en) 2017-09-22 2019-10-01 Locus Robotics Corp. Dynamic window approach using optimal reciprocal collision avoidance cost-critic
US10386851B2 (en) 2017-09-22 2019-08-20 Locus Robotics Corp. Multi-resolution scan matching with exclusion zones
CN107728616B (zh) * 2017-09-27 2019-07-02 广东宝乐机器人股份有限公司 移动机器人的地图创建方法及移动机器人
JP7136114B2 (ja) * 2017-10-02 2022-09-13 ソニーグループ株式会社 環境情報更新装置、環境情報更新方法及びプログラム
CN111247390B (zh) 2017-10-06 2023-09-01 高通股份有限公司 Vslam的并发的重新定位和重新初始化
US10365656B2 (en) 2017-11-22 2019-07-30 Locus Robotics Corp. Robot charger docking localization
US10761539B2 (en) 2017-11-22 2020-09-01 Locus Robotics Corp. Robot charger docking control
US10638906B2 (en) 2017-12-15 2020-05-05 Neato Robotics, Inc. Conversion of cleaning robot camera images to floorplan for user interaction
US11320828B1 (en) 2018-03-08 2022-05-03 AI Incorporated Robotic cleaner
US11254002B1 (en) 2018-03-19 2022-02-22 AI Incorporated Autonomous robotic device
US11454981B1 (en) 2018-04-20 2022-09-27 AI Incorporated Versatile mobile robotic device
US10807236B2 (en) * 2018-04-30 2020-10-20 Beijing Jingdong Shangke Information Technology Co., Ltd. System and method for multimodal mapping and localization
US11457788B2 (en) * 2018-05-11 2022-10-04 Samsung Electronics Co., Ltd. Method and apparatus for executing cleaning operation
US11243540B2 (en) 2018-05-17 2022-02-08 University Of Connecticut System and method for complete coverage of unknown environments
US11340079B1 (en) 2018-05-21 2022-05-24 AI Incorporated Simultaneous collaboration, localization, and mapping
US11548159B1 (en) * 2018-05-31 2023-01-10 AI Incorporated Modular robot
US11157016B2 (en) 2018-07-10 2021-10-26 Neato Robotics, Inc. Automatic recognition of multiple floorplans by cleaning robot
US11194335B2 (en) 2018-07-10 2021-12-07 Neato Robotics, Inc. Performance-based cleaning robot charging method and apparatus
US11199853B1 (en) 2018-07-11 2021-12-14 AI Incorporated Versatile mobile platform
US20200050205A1 (en) * 2018-08-07 2020-02-13 Cnh Industrial America Llc System and method for updating a mapped area
US11272823B2 (en) 2018-08-31 2022-03-15 Neato Robotics, Inc. Zone cleaning apparatus and method
CN118014912A (zh) * 2018-10-15 2024-05-10 科沃斯机器人股份有限公司 环境地图的校正方法、设备及存储介质
CN109191027A (zh) * 2018-11-09 2019-01-11 浙江国自机器人技术有限公司 一种机器人召唤方法、系统、设备及计算机可读存储介质
CN109531592B (zh) * 2018-11-30 2022-02-15 佛山科学技术学院 一种基于视觉slam的图书盘点机器人
US10891769B2 (en) * 2019-02-14 2021-01-12 Faro Technologies, Inc System and method of scanning two dimensional floorplans using multiple scanners concurrently
CN109900267A (zh) * 2019-04-12 2019-06-18 哈尔滨理工大学 一种基于slam的移动机器人地图创建与自主探索系统
EP3731130B1 (en) * 2019-04-23 2024-06-05 Continental Autonomous Mobility Germany GmbH Apparatus for determining an occupancy map
CN110174894B (zh) * 2019-05-27 2022-03-15 小狗电器互联网科技（北京）股份有限公司 机器人及其重定位方法
US11250576B2 (en) * 2019-08-19 2022-02-15 Toyota Research Institute, Inc. Systems and methods for estimating dynamics of objects using temporal changes encoded in a difference map
TWI736960B (zh) * 2019-08-28 2021-08-21 財團法人車輛研究測試中心 同步定位與建圖優化方法
US11327483B2 (en) * 2019-09-30 2022-05-10 Irobot Corporation Image capture devices for autonomous mobile robots and related systems and methods
CN110852211A (zh) * 2019-10-29 2020-02-28 北京影谱科技股份有限公司 基于神经网络的slam中障碍物过滤方法和装置
WO2021125510A1 (en) * 2019-12-20 2021-06-24 Samsung Electronics Co., Ltd. Method and device for navigating in dynamic environment
US11880209B2 (en) * 2020-05-15 2024-01-23 Samsung Electronics Co., Ltd. Electronic apparatus and controlling method thereof
CN111928866B (zh) * 2020-09-27 2021-02-12 上海思岚科技有限公司 一种机器人地图差异更新的方法及设备
KR20220064884A (ko) * 2020-11-12 2022-05-19 주식회사 유진로봇 3d slam 데이터 편집 장치 및 방법
EP4245474A1 (en) * 2020-11-12 2023-09-20 Yujin Robot Co., Ltd. Robot system
CN112698345B (zh) * 2020-12-04 2024-01-30 江苏科技大学 一种激光雷达的机器人同时定位与建图优化方法
CN112581613A (zh) * 2020-12-08 2021-03-30 纵目科技（上海）股份有限公司 一种栅格地图的生成方法、系统、电子设备及存储介质
KR102463725B1 (ko) * 2021-02-23 2022-11-07 현대자동차주식회사 위치 추정 장치, 그를 포함한 로봇 시스템 및 그에 관한 방법
JPWO2022190324A1 (xx) * 2021-03-11 2022-09-15
WO2022197544A1 (en) * 2021-03-15 2022-09-22 Omron Corporation Method and apparatus for updating an environment map used by robots for self-localization
CN112985417B (zh) * 2021-04-19 2021-07-27 长沙万为机器人有限公司 移动机器人粒子滤波定位的位姿校正方法及移动机器人
CN113478480B (zh) * 2021-06-22 2022-03-25 中建三局集团有限公司 一种横折臂布料机的轨迹规划方法
KR20230017060A (ko) * 2021-07-27 2023-02-03 삼성전자주식회사 로봇 및 그 제어 방법
US20230320551A1 (en) 2022-04-11 2023-10-12 Vorwerk & Co. Interholding Gmb Obstacle avoidance using fused depth and intensity from nnt training
US11511165B1 (en) * 2022-05-30 2022-11-29 Tennibot, Inc. Autonomous tennis assistant systems

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04227507A (ja) * 1990-07-02 1992-08-17 Nec Corp 移動ロボット用のマップを作成し保持する方法
US5202661A (en) * 1991-04-18 1993-04-13 The United States Of America As Represented By The Secretary Of The Navy Method and system for fusing data from fixed and mobile security sensors
DE59501570D1 (de) * 1994-06-22 1998-04-09 Siemens Ag Verfahren zur orientierung, fahrwegplanung und steuerung einer autonomen mobilen einheit
JP3770909B2 (ja) * 1994-09-06 2006-04-26 シーメンス アクチエンゲゼルシヤフト 目標と自走ユニットとの間隔が自走ユニットによって動的に検出される、自走ユニットの環境マップ内の目標の位置特定方法
GB0126497D0 (en) * 2001-11-03 2002-01-02 Dyson Ltd An autonomous machine
AU2003256435A1 (en) * 2002-08-16 2004-03-03 Evolution Robotics, Inc. Systems and methods for the automated sensing of motion in a mobile robot using visual data
US7145478B2 (en) * 2002-12-17 2006-12-05 Evolution Robotics, Inc. Systems and methods for controlling a density of visual landmarks in a visual simultaneous localization and mapping system
JP2005211463A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
JP2006239844A (ja) * 2005-03-04 2006-09-14 Sony Corp 障害物回避装置、障害物回避方法及び障害物回避プログラム並びに移動型ロボット装置
US20060235585A1 (en) * 2005-04-18 2006-10-19 Funai Electric Co., Ltd. Self-guided cleaning robot
JP2007041657A (ja) * 2005-07-29 2007-02-15 Sony Corp 移動体制御方法および移動体
EP2806326B1 (en) * 2005-09-02 2016-06-29 Neato Robotics, Inc. Multi-function robotic device
US8577538B2 (en) * 2006-07-14 2013-11-05 Irobot Corporation Method and system for controlling a remote vehicle
US8868237B2 (en) * 2006-03-17 2014-10-21 Irobot Corporation Robot confinement
KR100843085B1 (ko) * 2006-06-20 2008-07-02 삼성전자주식회사 이동 로봇의 격자지도 작성 방법 및 장치와 이를 이용한영역 분리 방법 및 장치
US7801644B2 (en) * 2006-07-05 2010-09-21 Battelle Energy Alliance, Llc Generic robot architecture
US7587260B2 (en) * 2006-07-05 2009-09-08 Battelle Energy Alliance, Llc Autonomous navigation system and method
US8996172B2 (en) * 2006-09-01 2015-03-31 Neato Robotics, Inc. Distance sensor system and method
CN100449444C (zh) * 2006-09-29 2009-01-07 浙江大学 移动机器人在未知环境中同时定位与地图构建的方法
US7613673B2 (en) * 2006-10-18 2009-11-03 The Boeing Company Iterative particle reduction methods and systems for localization and pattern recognition
KR100809352B1 (ko) * 2006-11-16 2008-03-05 삼성전자주식회사 파티클 필터 기반의 이동 로봇의 자세 추정 방법 및 장치
JP2009169845A (ja) * 2008-01-18 2009-07-30 Toyota Motor Corp 自律移動ロボット及び地図更新方法
JP5141507B2 (ja) * 2008-08-25 2013-02-13 村田機械株式会社 自律移動装置
KR101538775B1 (ko) * 2008-09-12 2015-07-30 삼성전자 주식회사 전방 영상을 이용한 위치 인식 장치 및 방법
KR101503903B1 (ko) * 2008-09-16 2015-03-19 삼성전자 주식회사 이동 로봇의 지도 구성 장치 및 방법

Also Published As

Publication number Publication date
EP2473890A2 (en) 2012-07-11
NZ598500A (en) 2013-11-29
CA2859112A1 (en) 2011-03-03
WO2011026119A2 (en) 2011-03-03
CN104699099A (zh) 2015-06-10
CN104699099B (zh) 2018-03-23
US20110082585A1 (en) 2011-04-07
JP5837553B2 (ja) 2015-12-24
US20170255203A1 (en) 2017-09-07
JP2014078254A (ja) 2014-05-01
CA2859112C (en) 2017-08-15
CN102576228A (zh) 2012-07-11
CA2772636A1 (en) 2011-03-03
AU2010286429B2 (en) 2013-11-28
KR20120043096A (ko) 2012-05-03
EP2473890B1 (en) 2014-03-12
US9678509B2 (en) 2017-06-13
KR101362961B1 (ko) 2014-02-12
US20150105964A1 (en) 2015-04-16
US8903589B2 (en) 2014-12-02
US20140058610A1 (en) 2014-02-27
AU2010286429A1 (en) 2012-04-05
JP2013503404A (ja) 2013-01-31
WO2011026119A3 (en) 2011-06-16

Similar Documents

Publication Publication Date Title
HK1211352A1 (en) Method and apparatus for simultaneous localization and mapping of mobile robot environment
EP2460629A4 (en) Control method for localization and navigation of mobile robot and mobile robot using same
IL223870A (en) A portable robot and a method to launch it
HK1171099A1 (en) Method and apparatus for localization of haptic feedback
ZA201207426B (en) System and apparatus for robotic device and methods of using thereof
EP2618727A4 (en) Apparatus and method for catheter navigation using indovascular energy mapping
EP2567573A4 (en) Method and apparatus for performing handover
EP2605898A4 (en) Apparatus and method for making an object
HK1153830A1 (en) Coordinate locating method and apparatus
GB2491999B (en) Apparatus and method for cementing liner
GB201013938D0 (en) Method for recalibrating coordinate positioning apparatus
EP2605693A4 (en) APPARATUS AND METHOD FOR FOUR-DIMENSIONAL NAVIGATION IN SOFT TISSUE
EP2550627A4 (en) METHOD AND APPARATUS FOR PROVIDING SMOOTH RECALLS
EP2618232A4 (en) Map generation device, map generation method, method for moving mobile body, and robot device
EP2577611A4 (en) Method and apparatus for providing a localized virtual reality environment
EP2657125A4 (en) Underwater mobile apparatus and moving method thereof
EP2546793A4 (en) METHOD AND APPARATUS FOR PROVIDING A LIST OF APPLICATIONS
EP2553915A4 (en) DEVICE AND METHOD FOR WIRELESS HEADSETS
EP2660014A4 (en) CONTROL APPARATUS AND METHOD FOR A SEVEN-AXIAL MULTIPLE JOINT ROBOT
GB2469105B (en) Apparatus and method for the connection of conduits
EP2587388A4 (en) Machine translation system and method of machine translation
EP2583115A4 (en) METHOD AND DEVICE FOR ESTIMATING THE ARRIVAL DIRECTION
EP2656182A4 (en) Method and apparatus for providing touch interface
EP2657644A4 (en) POSITIONING DEVICE AND POSITIONING METHOD
EP2612220A4 (en) Method and apparatus for interfacing