Mobile Robot Map Building Using Landmark Pattern Extraction
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Solution Overview
Problem
Simultaneous Localization and Mapping (SLAM) algorithms in mobile robots face errors due to feature point extraction errors, unknown odometry errors, and camera geometry errors, leading to compounded localization inaccuracies.
Innovation Solution
A map building apparatus and method that extracts patterns from identified landmarks using image information to reduce localization errors, grouping similar landmarks and adjusting their positions based on extracted patterns, including straight lines, circles, and rectangles, to enhance map accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If SLAM algorithm is used for localization and mapping, then robot can navigate autonomously, but localization errors compound due to feature point extraction errors, odometry errors, and camera geometry errors
Solution Approach 1:
The system extracts patterns from multiple landmarks and uses this pattern information to adjust and correct landmark positions in the map. This feedback mechanism continuously refines the landmark positions based on observed patterns, reducing cumulative localization errors from SLAM algorithm
Solution Approach 2:
The system performs preliminary pattern extraction from identified landmarks before finalizing the map. By extracting patterns such as straight lines, circles, and rectangles in advance and using them to adjust landmark positions, the system prepares corrected position data that reduces subsequent localization errors
2Measurement precision
If pattern extraction and landmark adjustment is performed, then localization accuracy improves, but device complexity increases due to additional processing units
Solution Approach 1:
The pattern extracting unit serves multiple functions: it identifies patterns in landmark arrangements, extracts geometric features, and provides adjustment data for the landmark map. This multi-functionality reduces the need for separate dedicated components for each processing step, thereby limiting the increase in device complexity
Data Source
AI summary
Localization and map building apparatus and method applicable to a mobile robot are provided. In an exemplary embodiment, a map building apparatus extracts a pattern of landmarks of the same kind and adjusts a landmark map using the extracted pattern when generating the landmark map for localization. Accordingly, since the landmark map is adjusted based on the pattern extracted on the basis of location information of each landmark, accuracy of localization and map building of the mobile robot can be improved.