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Positioning system and method using combination of results of multimodal sensor-based location recognition

A technology for recognition results and positioning systems, applied to systems based on fuzzy logic, two-dimensional position/channel control, control/regulation systems, etc., can solve problems such as position estimation of difficult objects

Pending Publication Date: 2021-05-18
KOREA INST OF ROBOT & CONVERGENCE
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, since the above-mentioned prior art estimates the position and direction of an object based on an ultrasonic sensor that can only realize weak position recognition, there is a problem that it is difficult to accurately estimate the position of an object.

Method used

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  • Positioning system and method using combination of results of multimodal sensor-based location recognition
  • Positioning system and method using combination of results of multimodal sensor-based location recognition
  • Positioning system and method using combination of results of multimodal sensor-based location recognition

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Embodiment Construction

[0058] Next, preferred embodiments to which the present invention is applied will be described in detail with reference to the drawings. The detailed description disclosed in the following content with reference to the accompanying drawings is only for the detailed description of exemplary embodiments to which the present invention is applied, and does not represent the only embodiment in which the present invention can be implemented. The ensuing detailed description includes specific details in order to facilitate a more complete understanding of the present invention. However, it will be understood by those having ordinary knowledge in the art to which the invention pertains that the invention may be practiced without the specific details described above. In addition, throughout the specification, when it is stated that a certain part "comprising (comprising or including)" a certain constituent element, unless otherwise clearly stated to the contrary, it does not mean exclu...

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Abstract

The present invention relates to a positioning system and method using a combination of results of multimodal sensor-based location recognition. The system according to an embodiment comprises: a sensor unit having a multimodal sensor formed therein to sense obstacle information about an obstacle located around an object; a database unit having a multimodal database built therein, wherein multiple pieces of location-determining information to locate the object are stored in the database; a feature-detecting unit which detects a feature value by performing a feature point-based matching operation of finding a feature point in the obstacle information to recognize an obstacle, and performing a model-based matching operation of comparing a feature point with the multiple pieces of location-determining information to recognize an obstacle having the matching feature point; a fuzzy-mapping unit which corrects the feature value by applying a weight value to the feature value, calculates a value for an area where the object is located and a value for the location of the obstacle according to the corrected feature value, and applies fuzzy logic, thereby generating an initial map into which the area where the object is located and the location of the obstacle are to be incorporated; and a positioning unit for locating the object by using the map into which the area where the object is located and the location of the object have been incorporated.

Description

technical field [0001] The present invention relates to a position positioning system and method for mixing position recognition results based on multiple types of sensors, in particular to a position positioning system that can accurately identify moving objects by mixing information detected by multiple types of sensors A position positioning system and method for positioning a position. Background technique [0002] Robots and drones that can drive themselves are increasingly being used in various fields including industrial use. The most important technology for autonomous driving of robots and drones as described above is the technology of accurately positioning the current positions of moving robots and drones. [0003] In order to locate the position of the above-mentioned robots and unmanned aerial vehicles, the current position can be judged by receiving signals from the global positioning system (GPS) satellites, and can also use such as odometer (Odometer), inert...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01S17/89G01S15/89G01D21/02
CPCG05D1/0238G05D1/024G01S17/89G01S15/89G01D21/02G06N7/02
Inventor 严泰永崔永镐裵起德朴智铉
Owner KOREA INST OF ROBOT & CONVERGENCE
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