POSITIONING SYSTEM AND METHOD USING COMBINATION OF RESULTS OF MULTIMODAL SENSOR-BASED LOCATION RECOGNITION

摘要

The present invention relates to a positioning system and method using a combination of results of multimodal sensor-based location recognition. The system according to an embodiment comprises: a sensor unit having a multimodal sensor formed therein to sense obstacle information about an obstacle located around an object; a database unit having a multimodal database built therein, wherein multiple pieces of location-determining information to locate the object are stored in the database; a feature-detecting unit which detects a feature value by performing a feature point-based matching operation of finding a feature point in the obstacle information to recognize an obstacle, and performing a model-based matching operation of comparing a feature point with the multiple pieces of location-determining information to recognize an obstacle having the matching feature point; a fuzzy-mapping unit which corrects the feature value by applying a weight value to the feature value, calculates a value for an area where the object is located and a value for the location of the obstacle according to the corrected feature value, and applies fuzzy logic, thereby generating an initial map into which the area where the object is located and the location of the obstacle are to be incorporated; and a positioning unit for locating the object by using the map into which the area where the object is located and the location of the object have been incorporated.