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

Claim 13:
14. A robot, the robot comprising:
a motor configured to move the robot;
a plurality of sensors;
a map storage configured to store:
a pose graph including
a LiDAR branch including one or more LiDAR frames generated by the sensors, 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 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 between the frame nodes; and
a controller configured to calculate a current position of the robot by comparing a frame registered with a frame node of the frame nodes with a LiDAR frame of the one or more LiDAR frames or a visual frame of the one or more visual frames, or by using the odometry information,
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.