US 11,666,195 B2
Robot and control method thereof
Junghwan Lee, Suwon-si (KR); Daehun Kim, Suwon-si (KR); Saeyoung Kim, Suwon-si (KR); and Soonhyuk Hong, Suwon-si (KR)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed by SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed on Feb. 17, 2021, as Appl. No. 17/177,742.
Claims priority of provisional application 62/977,429, filed on Feb. 17, 2020.
Claims priority of application No. 10-2020-0094736 (KR), filed on Jul. 29, 2020.
Prior Publication US 2021/0251454 A1, Aug. 19, 2021
Int. Cl. A47L 11/40 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 11/00 (2006.01)
CPC A47L 11/4011 (2013.01) [B25J 9/163 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B25J 11/0085 (2013.01); B25J 13/089 (2013.01); A47L 2201/04 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of controlling a robot, comprising:
obtaining a first image and a second image of a plurality of objects, the first image and the second image being captured from different positions;
obtaining, from the first and second images, a plurality of candidate positions corresponding to each of the plurality of objects, based on a capturing position of each of the first and second images and a direction to each of the plurality of objects from each capturing position;
obtaining distance information between each capturing position and each of the plurality of objects in the first and second images by analyzing the first and second images;
identifying a position of each of the plurality of objects from among the plurality of candidate positions based on the distance information, and
controlling the robot based on the position of each of the plurality of objects,
wherein the identifying the position of each of the plurality of objects comprises classifying the plurality of candidate positions into a plurality of clusters and identifying a central point of each of the plurality of clusters as the position of each of the plurality of objects.