Patent application number | Description | Published |
20090024353 | Method of measuring pose of mobile robot and method and apparatus for measuring position of mobile robot using the same - A method of measuring pose of mobile robot, and method and apparatus for measuring for measuring position of mobile robot using the same are provided. The apparatus for measuring the pose of a mobile robot includes an accelerometer measuring acceleration of the mobile robot in a forward direction, a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section, and a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity. | 01-22-2009 |
20090125175 | Apparatus and method for generating three-dimensional map using structured light - A three-dimensional map-generating apparatus and method using structured light. The apparatus for generating a three-dimensional map using structured light includes an odometer detecting the pose of a mobile robot, and a distance-measuring sensor including a light source module that emits light upward and a camera module that captures an image formed by light reflected from an obstacle, and measuring a distance to the obstacle using the captured image. The apparatus measures a distance to the obstacle using the distance-measuring sensor while changing the relative pose of the mobile robot, thereby generating a three-dimensional map. | 05-14-2009 |
20100070078 | Apparatus and method for building map - An apparatus and method for building a map are provided. According to the apparatus and method, a path is generated on the basis of the degrees of uncertainty of features extracted from an image obtained while a mobile robot explores unknown surroundings, and the mobile robot travels along the generated path. The path based on the degrees of uncertainty of the features is generated and this may increase the accuracy of a feature map of the mobile robot or accuracy in self localization. | 03-18-2010 |
20100152945 | Apparatus and method of localization of mobile robot - A localization method and localization device of a mobile robot is provided. In one aspect, characteristic information of a reference object is stored in advance to be used as a landmark for localization, and reference characteristic information is defined by utilizing the stored characteristic information and characteristic information obtained at an initial location of the mobile robot. Therefore, the accuracy of localization can be increased without the use of additional artificial landmarks. | 06-17-2010 |
20100324773 | Method and apparatus for relocating mobile robot - Provided is a method and apparatus for relocating a mobile robot when the mobile robot loses its position due to slipping. The method includes storing a moving path of the mobile robot and effective points on the moving path capable of finding an absolute position from a peripheral image; detecting an abnormal motion of the mobile robot; and when the abnormal motion of the mobile robot is detected, controlling the mobile robot to move to the effective point along a predetermined return path. | 12-23-2010 |
20110054686 | Apparatus and method detecting a robot slip - Disclosed is an apparatus and method for detecting slip of a robot. The robot periodically repeats a pattern movement in the order of a uniform motion, a decelerating motion, and an accelerating motion, or in the order of a uniform motion, an accelerating motion, and a deceleration motion. The occurrence of slip of the robot performing a pattern movement is determined by comparing a first acceleration of the robot measured by an acceleration sensor and a second acceleration of the robot measured by an encoder. | 03-03-2011 |
20110085699 | Method and apparatus for tracking image patch considering scale - A method and apparatus for tracking an image considering scale are provided. A registered image patch may be divided into a scale-invariant image patch and a scale-variant image patch according to a predetermined scale invariance index (SII). If a registered image patch within an image is a scale-invariant image patch, the scale-invariant image patch is tracked by adjusting its position, while if the registered image patch is a scale-variant image patch, the scale-invariant image patch is tracked by adjusting its position and scale. | 04-14-2011 |
20110137461 | Mobile robot and method for moving mobile robot - Disclosed is a mobile robot and method generating a path of the mobile robot, capable of quickly moving the mobile robot to a location at which the mobile robot is able to detect a docking station. A first configuration space map is built by expanding an obstacle area including an obstacle by a first thickness, and a second configuration space map is built by expanding the obstacle area by a second thickness which is less than the first thickness. A path is generated by sequentially using the first configuration space map and the second configuration space map. | 06-09-2011 |
20110166763 | Apparatus and method detecting a robot slip - An apparatus and method for detecting a slip of a robot. According to the apparatus and method, the probability of a slip occurring may be preliminarily determined using a first acceleration obtained from an acceleration sensor and a second acceleration obtained from an encoder. Then, finally the occurrence of a slip may be determined using a change in a driving control signal. Thus, accurate detection of a slip can be realized while preventing incorrect determination of slip occurrence. | 07-07-2011 |
20110205338 | Apparatus for estimating position of mobile robot and method thereof - An apparatus and method for estimating the position of a mobile robot capable of reducing the time required to estimate the position is provided. The mobile robot position estimating apparatus includes a range data acquisition unit configured to acquire three-dimensional (3D) point cloud data, a storage unit configured to store a plurality of patches, each including points around a feature point which is extracted from previously acquired 3D point cloud data, and a position estimating unit configured to estimate the position of the mobile robot by tracking the plurality of patches from the acquired 3D point cloud data. | 08-25-2011 |
20120109420 | APPARATUS AND METHOD WITH MOBILE RELOCATION - An apparatus and method relocating a robot. The apparatus may include a particle generating unit, a first distance obtaining unit, a second distance obtaining unit, and a position estimating unit. A plurality of particles may be generated on a map, a first distance may be obtained according to respective distances between each particle of the plurality of particles and a wireless communication apparatus, based on a position of the wireless communication apparatus and respective positions of each particle on the map, a second distance may be obtained according to respective determined distances between the wireless communication apparatus and the robot, based on a strength measure of the electromagnetic signal received by the robot from the wireless communication apparatus or based on an arrival time or time of flight of the electromagnetic signal, and a position of the robot may be estimated by comparing the first distance and the second distance. | 05-03-2012 |
20120169669 | PANEL CAMERA, AND OPTICAL TOUCH SCREEN AND DISPLAY APPARATUS EMPLOYING THE PANEL CAMERA - A panel camera, and an optical touch screen and a display apparatus employing the panel camera. The panel camera includes a lens panel comprising a plurality of narrow-angle lenses arranged in a two-dimensional (2D) array and a light-detection panel comprising a plurality of light detectors which are arranged in a 2D array to respectively correspond to the plurality of narrow-angle lenses to receive lights passing through the plurality of narrow-angle lenses from outside and obtain a remote image. | 07-05-2012 |
20130018285 | FOCUSED ULTRASOUND THERAPY APPARATUS AND METHOD OF CONTROLLING FOCAL POINTAANM PARK; Jun-hoAACI Hwaseong-siAACO KRAAGP PARK; Jun-ho Hwaseong-si KRAANM LEE; Hyoung-kiAACI Seongnam-siAACO KRAAGP LEE; Hyoung-ki Seongnam-si KRAANM LEE; Ho-taikAACI Yongin-siAACO KRAAGP LEE; Ho-taik Yongin-si KRAANM AHN; Min-suAACI SeoulAACO KRAAGP AHN; Min-su Seoul KRAANM PARK; Ji-youngAACI Yongin-siAACO KRAAGP PARK; Ji-young Yongin-si KR - A method of controlling a focus in a focused ultrasound therapy apparatus, the method including receiving an target area to which ultrasound is radiated to remove a lesion; determining a path through which the focus moves in the target area, depending on a form of the target area; and forming the focus on the determined path and then radiating ultrasound to the target area. | 01-17-2013 |
20130060170 | MEDICAL APPARATUS AND METHOD OF CONTROLLING THEREOF - A medical apparatus and a method of controlling thereof are provided. The medical apparatus includes an ultrasound transducer unit including a plurality of ultrasound transducer elements, the ultrasound transducer elements being configured to transform signals into ultrasound and output the transformed ultrasound, a grouping unit configured to group the ultrasound transducer elements into a plurality of groups, and a signal generating unit configured to generate the signals to be transformed into the ultrasound and output the generated signals to the groups via a plurality of output channels respectively corresponding to the groups. | 03-07-2013 |
20130079681 | FOCUSED ULTRASOUND THERAPY APPARATUS AND FOCAL POINT CONTROLLING METHOD THEREOF - A focal point controlling method and a focused ultrasound therapy apparatus may be used in the treatment and removal of a lesion in a noninvasive surgical procedure by focusing ultrasonic waves. A focal point may be controlled by acquiring tissue characteristic information including physical characteristic values affecting propagation of an ultrasonic wave from a pre-diagnostic image that is a medical image obtained by capturing tissues on a path through which the ultrasonic wave propagates from a position from which the ultrasonic wave is generated to a target position on which a focal point is desired to be formed. The position at which the focal point is formed may be controlled by using the acquired tissue characteristic information. | 03-28-2013 |
20130197402 | METHOD AND APPARATUS FOR FORMING MULTI-FOCUS OF ULTRASOUND TRANSDUCER ARRAY - A method and apparatus for forming a multi-focus of an ultrasound transducer array. Accordingly, by simultaneously forming multiple focal points while minimizing grating lobes in an operation of a High Intensity Focused Ultrasound (HIFU) device, a damage to organs around a lesion during therapy using the HIFU device may be prevented. | 08-01-2013 |
20140046183 | METHOD AND APPARATUS FOR ANALYZING ELASTOGRAPHY OF TISSUE USING ULTRASOUND WAVES - A method and apparatus for analyzing elastography of tissue using ultrasound waves, wherein elastography information of tissue in a region of interest (ROI) is analyzed by irradiating ultrasound waves for diagnosis towards the ROI to which a shear wave is induced from an ultrasound probe, receiving echo ultrasound waves, and acquiring three-dimensional (3D) ultrasound images with respect to the ROI. | 02-13-2014 |
20140100458 | METHOD, APPARATUS, AND SYSTEM FOR MEASURING PROPAGATION OF SHEAR WAVE USING ULTRASOUND TRANSDUCER - A method of measuring propagation of a shear wave by using an ultrasound transducer includes generating a shear wave inside the object, setting a region of interest (ROI) on which propagation of the shear wave is to be observed, and determining a position of a second focus on which ultrasound signals are to be directed to obtain information about the ROI, irradiating the ultrasound signals toward the second focus, and receiving echo signals reflected from the ROI. | 04-10-2014 |
20140187940 | METHOD OF CALCULATING DISPLACEMENT OF SHEAR WAVE, METHOD OF CALCULATING MECHANICAL MODULUS OF BODY, AND SYSTEM USING THE METHODS - A method of calculating a displacement of a shear wave includes inducing a shear wave in a body, obtaining a plurality of propagation frames including propagation information of the shear wave from an echo signal received from the body, determining a reference frame from among the plurality of propagation frames, and calculating a displacement of the shear wave based on the plurality of propagation frames and the reference frame. A shear modulus may be calculated by using a displacement of the shear wave after the displacement of the shear wave is calculated by comparing the reference frame and propagation frames. A mechanical modulus may be obtained by selecting an ultrasound image as a reference image after a shear modulus is calculated. | 07-03-2014 |
20150032000 | ULTRASOUND DIAGNOSTIC METHOD AND APPARATUS USING SHEAR WAVES - An ultrasound diagnostic method and apparatus determines a transmission condition for generating shear waves at two or more positions of an object, for each of a plurality of elements of a transducer, and generates an ultrasound signal transmitted to the object through a full aperture of the transducer, according to the transmission condition. | 01-29-2015 |