Single-Camera Mobile Robot 3D Mapping From Feature Point Reprojection
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Solution Overview
Problem
Conventional mobile robots rely on 1-dimensional or 2-dimensional sensors for recognizing surroundings, which limits their ability to accurately detect and navigate through complex environments, lacking the capability to extract precise 3D information.
Innovation Solution
A mobile robot equipped with a single camera that captures images of its surroundings and uses feature points from neighboring frames to project particles, generating 3D information by re-projecting these particles onto subsequent frames, allowing for the creation of a 3D map of its environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single camera is used for detection, then device complexity is reduced, but measurement precision of 3D information deteriorates
Solution Approach 1:
The patent transitions from 2D image plane coordinates to 3D spatial coordinates by introducing depth information through particle re-projection. Particles are generated on a virtual line in 3D space and re-projected onto the 2D image plane, enabling the single camera to extract precise 3D information by leveraging the dimensionality change from image space to object space.
2Measurement precision
If feature point matching between neighboring frames is performed, then 3D information extraction precision is improved, but loss of time increases
Solution Approach 1:
The patent performs preliminary actions by pre-generating particles on virtual lines based on feature point matching between neighboring frames. These particles are prepared in advance and then re-projected onto subsequent frames, which reduces the computational burden during real-time processing and improves overall processing efficiency while maintaining high precision.
3Measurement precision
If particles are re-projected based on feature point matching, then 3D information extraction precision is improved, but device complexity increases
Solution Approach 1:
The patent uses copying by generating virtual particles that represent potential 3D positions based on feature point correspondences. These particle copies are re-projected onto image frames to infer 3D information, avoiding the need for complex direct 3D reconstruction algorithms while achieving high precision through iterative particle refinement.
Data Source
AI summary
Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.