Robot Position Correction via Visual Landmark Matching
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Solution Overview
Problem
Mobile robots in outdoor spaces face inaccuracies in position measurement due to low-cost GPS modules and environmental factors, leading to potential collisions with other vehicles.
Innovation Solution
Equipping robots with a position measuring sensor, camera, and processor that analyzes images to extract appearance features, selects corresponding place information from a stored map, and corrects the robot's position based on this information, using a combination of image analysis and pre-acquired place data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS module is used for position measurement, then position measurement is possible, but measurement precision is poor
Solution Approach 1:
The patent introduces a camera as an intermediary device to capture images of landmarks, which then serve as the basis for calculating corrected position information. The processor acts as another intermediary that compares captured landmark images with stored reference images to determine position corrections, thereby mediating between the unreliable GPS data and the needed accurate position information.
Solution Approach 2:
The patent replaces the purely electronic GPS-based position measurement system with a hybrid system that incorporates optical image capture and processing. By substituting the mechanical/electronic GPS measurement with an optical recognition system based on landmark identification, the patent achieves higher measurement precision while maintaining system reliability.
2Reliability
If GPS module is used for position measurement, then position measurement is possible, but collision risk increases due to inaccurate position
Solution Approach 1:
The patent implements a feedback mechanism where the camera continuously captures images of landmarks, the processor compares these with reference images to calculate position corrections, and this corrected position information is then used to adjust the robot's navigation. This closed-loop feedback system continuously monitors and corrects position deviations, thereby reducing collision risk while maintaining reliable position measurement.
3Measurement precision
If image analysis and place information storage are added, then position measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent makes the processor multi-functional by having it perform both the image analysis for position correction and the general control functions of the mobile robot. The memory serves dual purposes by storing both the reference place information for position correction and operational data for robot control. This multi-functionality reduces overall system complexity despite adding position correction capabilities.
Solution Approach 2:
The patent merges the position correction subsystem with the existing robot control system. The camera, processor, and memory components are integrated into the robot's existing architecture, sharing computational resources and data storage. By combining these functions rather than creating separate independent systems, the patent improves measurement precision while minimizing the increase in device complexity.
Data Source
AI summary
A robot can include a position measuring sensor to measure a position of the robot as the robot moves in an outdoor space; a camera to acquire an image of surroundings of the robot; a memory configured to store place information including positions and appearance feature information of a plurality of places existing in the outdoor space; and at least one processor to extract one or more appearance features of M first places in the image, where M is an integer greater than or equal to 1, select one or more positions of N second places from the place information stored in the memory based on the one or more appearance features of the M first places in the image, where N is an integer greater than or equal to 1 and less than or equal to M, and generate a corrected position for the robot.