Patent ID: 11960297
Assignee: LG ELECTRONICS INC.
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 0:
1. A robot for generating a map based on multi sensors and artificial intelligence, the robot comprising:
a motor configured to move the robot;
a light detection and ranging (LiDAR) sensor configured to determine a distance between an external object and the robot;
a plurality of camera sensors configured to capture an image of the external object;
a controller configured to generate a first graph including:
a LiDAR branch including one or more LiDAR frames generated by the LiDAR sensor, each of the one or more LiDAR frames generated for a respective position of the robot, and one or more LiDAR keyframes selected from among the one or more LiDAR frames,
a visual branch including one or more visual frames generated by the camera sensors, each of the one or more visual frames generated for a respective position of the robot, and one or more visual keyframes selected from among the one or more visual frames,
a backbone including a plurality of frame nodes, wherein each of the frame nodes corresponds to a respective position of the robot that is same as at least a respective position corresponding to a LiDAR keyframe of the one or more LiDAR keyframes or a respective position corresponding to a visual keyframe of the one or more visual keyframes, and
odometry information; and

a map storage configured to store the first graph and the odometry information,
wherein the odometry information comprises rotation and direction information of a wheel while the robot moves between a first location correlated with a first frame node from among the frame nodes and a second location correlated with a second frame node from among the frame nodes,
wherein the controller is further configured to select the one or more visual keyframes from among the one or more visual frames based on the one or more visual keyframes having more 3D points than a first criterion, and
wherein the controller is further configured to select the one or more LiDAR keyframes from among the one or more LiDAR frames based on an overlapped size of a selected LiDAR keyframe with other LiDAR keyframes being smaller than a second criterion.