Apparatus and method for estimating a position and an orientation of a mobile robot
US7765027B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 16, 2004 |
| Grant date | Jul 27, 2010 |
| Priority date | — |
| Expiry date | Apr 5, 2028 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0234
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method and apparatus for estimating a position and an orientation of a mobile robot. The apparatus includes: a ceiling image grabber for obtaining a ceiling image of an area where the mobile device travels; a mark detector for detecting a retro-reflective artificial mark from the ceiling image, the retro-reflective artificial mark including a first mark and a second mark, each including a non-reflective portion and an infrared reflective portion; and a position & orientation estimator for estimating a position and an orientation of the mobile device using a position of the artificial mark or encoder information according to whether detection of the artificial mark is successful.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.