Patent ID: 8903161
Filing Date: 2014-12-02
Classification: G06T,Y10S

Abstract:
1. An apparatus for estimating a position of a robot, the apparatus comprising: a processor comprising: an image acquisition unit configured to acquire an RGB image and an infrared image having depth information, and sequentially generate a reference image serving as a reference to extract feature points and an object image that is to be compared with the reference image by matching the RGB image to the infrared image; an image processing unit configured to extract two-dimensional reference feature points from each of the reference image and the object image, match the reference feature points between the reference image and the object image as matched two-dimensional reference feature points, and extract at least one additional three-dimensional feature point from the matched two-dimensional reference feature points; and a position estimating unit configured to estimate the position of the robot from the at least one additional three-dimensional feature point and optimize the estimated position of the robot.