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 |
20090076651 | Apparatus and method for calculating position of robot - Provided are an apparatus and method of calculating the position of a robot, which determine the position of a robot and create a map of the surroundings of the robot which account for the travel state of the robot. The apparatus includes a state variable calculation module which calculates a plurality of state variables regarding a travel state of the robot by using a plurality of Kalman filters; a travel state determination module which determines the travel state of the robot based on the results of the calculation performed by the state variable calculation module; and a state variable update module which updates the state variables according to the result of the determination performed by the travel state determination module. | 03-19-2009 |
20090093984 | METHOD AND APPARATUS FOR CALIBRATING GYRO-SENSOR - A method and apparatus for calibrating a gyro-sensor, by which a gyro-sensor can be calibrated using data which is obtained by measuring an angular velocity and a gyro output value of a moving body equipped with the gyro-sensor. The method includes measuring an angular velocity of a moving body and an average output value of the gyro-sensor when the moving body, equipped with the gyro-sensor, rotates, obtaining data about a characteristic equation of the gyro sensor using the measured angular velocity and the average output value and storing the data, and calibrating the gyro-sensor using the stored data about the characteristic equation. | 04-09-2009 |
20100094460 | Method and apparatus for simultaneous localization and mapping of robot - A SLAM of a robot is provided. The position of a robot and the position of feature data may be estimated by acquiring an image of the robot's surroundings, extracting feature data from the image, and matching the extracted feature data with registered feature data. Furthermore, measurement update is performed in a camera coordinate system and an appropriate assumption is added upon coordinate conversion, thereby reducing non-linear components and thus improving the SLAM performance. | 04-15-2010 |
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 |
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 |
20110199300 | Pointing device and method and pointer display apparatus and method - A pointing apparatus and method and a pointer display apparatus and method using a virtual region which generate a virtual region corresponding to a detected display region, convert coordinates of a location, and display a pointer at the converted coordinates. The pointing device includes a region detector detecting a display region, which displays a pointer, using at least one received signal; a virtual region generator generating the virtual region corresponding to the display region and having an aspect ratio equal to that of the display region; a coordinate converter converting coordinates of a location, which is pointed at by the pointing device, in the virtual region into ratios of the coordinates of the location to a size of the virtual region; and a coordinate ratio transmitter transmitting the ratios. | 08-18-2011 |
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 |
20120302883 | METHOD AND SYSTEM FOR TREATMENT AND DIAGNOSIS USING ULTRASOUND - A method and system for treatment and diagnosis using ultrasound includes irradiating ultrasound for treatment into a treatment site, inducing a shear wave around the treatment site, irradiating ultrasound for diagnosis into the treatment site, and determining a degree of treatment or necrosis of a tissue of the treatment site by using a measured displacement of the shear wave. | 11-29-2012 |
20130046177 | METHOD OF GENERATING ULTRASOUND IMAGE AND ULTRASOUND SYSTEM USING THE METHOD - A method of generating an ultrasound image and an ultrasound system using the method, the method including: obtaining an echo signal from an ultrasound signal irradiated on an organ; calculating an amount of a change in the echo signal with respect to a reference echo signal; determining a temperature of the organ from the amount of the change in the echo signal by using an amount of a change in an attenuation coefficient of the organ that changes according to a temperature change; and generating an ultrasound image including information about the determined temperature. | 02-21-2013 |
20140018676 | METHOD OF GENERATING TEMPERATURE MAP SHOWING TEMPERATURE CHANGE AT PREDETERMINED PART OF ORGAN BY IRRADIATING ULTRASOUND WAVE ON MOVING ORGANS, AND ULTRASOUND SYSTEM USING THE SAME - A method of generating a temperature map showing a temperature change in a predetermined part by irradiating ultrasound waves on a moving organ includes generating reference frames indicating images of an observed part including a treatment part in the predetermined organ during a predetermined period related to a movement cycle of the predetermined organ from echo signals transduced from reflected waves of ultrasound waves for diagnosis irradiated on the observed part during the predetermined period; generating a current frame indicating an image of the observed part at a time an ultrasound wave for treatment is irradiated on the treatment part from the echo signals; selecting a comparison frame that is one of the reference frames based on a similarity between the reference frames and the current frame; and generating a temperature map showing a temperature change in the observed part based on a difference between the comparison and current frames. | 01-16-2014 |
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 |
20140121517 | METHOD AND APPARATUS FOR MONITORING TEMPERATURE USING ULTRASOUND - Provided are a method and apparatus for monitoring a temperature using an ultrasound wave. The method of monitoring a temperature using an ultrasound wave may include generating ultrasound speed data according to temperature in tissue of a target object, from ultrasound speed data according to temperature in each component forming the tissue, based on volume fraction of each of the components; and estimating a temperature of the tissue based on an ultrasound echo signal reflected by the tissue and the generated ultrasound speed data according to temperature. | 05-01-2014 |
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 |
20140206996 | METHOD AND APPARATUS FOR GENERATING A TEMPERATURE IMAGE - Disclosed is a method and apparatus of generating a temperature image during ultrasonic treatment, the method including setting a first plane indicating a heating region where ultrasonic waves for treatment are irradiated and setting a second plane indicating a protective region around the heating region; irradiating the first plane with ultrasonic waves for diagnosis at a first frame rate, and irradiating the second plane with the ultrasonic waves for diagnosis at a second frame rate, the second frame rate being lower than the first frame rate; and generating the temperature image using frame images acquired from irradiating the ultrasonic waves for diagnosis. | 07-24-2014 |
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 |