Mobile Robot Localization Using Arbitrary Ceiling Feature Descriptors
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Solution Overview
Problem
Conventional mobile robot localization methods using ceiling images face challenges with accuracy due to reliance on formalized features like corners and straight lines, which are sensitive to environmental changes and computation-intensive, making them less robust and generalizable, especially in dynamic environments.
Innovation Solution
A method for localizing mobile robots using arbitrarily shaped ceiling features, which involves extracting and describing features like ventilators and fire alarms, employing a descriptor-based approach to confirm feature robustness and facilitate rapid localization, reducing computation load and enhancing generalization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If formalized features like corners and straight lines are used for localization, then feature matching stability is improved, but sensitivity to environmental changes and computation intensity increase
Solution Approach 1:
The patent transforms the feature representation by extracting arbitrary shaped features and their descriptors from ceiling images, changing the parameters from traditional corner/line features to shape-based descriptors. This allows the system to maintain matching stability while becoming more adaptable to environmental variations by using robust shape characteristics that are less sensitive to illumination and viewpoint changes.
2Measurement precision
If conventional ceiling image processing is used, then localization is achieved in formalized environments, but generality in new environments and rapid localization are compromised
Solution Approach 1:
The patent performs preliminary feature extraction and descriptor assignment during the mapping phase, pre-processing the ceiling image data to identify and characterize arbitrary shaped features. This preliminary action stores essential feature information in advance, enabling rapid localization during operation by simply comparing current sensor data with pre-stored feature descriptors, thus reducing real-time computation time while maintaining accuracy.
3Measurement precision
If arbitrary shaped ceiling features with descriptors are used, then localization accuracy and robustness are improved, but computation load is reduced
Solution Approach 1:
The patent extracts only the essential and distinctive characteristics of arbitrary shaped ceiling features by assigning descriptors to key properties such as shape, size, and position. This extraction process isolates the most informative features while discarding redundant information, thereby achieving high localization accuracy with reduced computation load by processing only the extracted descriptor data rather than complete images.
4Reliability
If corner features are used, then stable matching is achieved, but information is severely changed by brightness changes
Solution Approach 1:
The patent changes the feature parameters from intensity-based corner detection to shape-based arbitrary feature extraction. By describing features through their geometric properties and descriptors rather than pixel intensity values, the system achieves stable matching that is invariant to illumination changes, as shape characteristics remain consistent regardless of brightness variations.
Data Source
AI summary
The present invention provides a method for recognizing a position of a mobile robot by using arbitrarily shaped ceiling features on a ceiling, comprising: a providing step of providing a mobile robot device for recognizing a position by using arbitrarily shaped ceiling features on a ceiling which includes an image input unit, an encoder sensing unit, a computation unit, a control unit, a storage unit, and a driving unit; a feature extraction step of extracting features which include an arbitrarily shaped ceiling feature from an outline extracted from image information inputted through the image input unit; and a localization step of recognizing a position of the mobile robot device by using the extracted features, wherein, in the feature extraction step, a descriptor indicating the characteristics of the arbitrarily shaped ceiling feature is assigned.