APPARATUS OF CONTROLLING MOVEMENT OF MOBILE ROBOT MOUNTED WITH WIDE ANGLE CAMERA AND METHOD THEREOF

摘要

Disclosed are an apparatus of controlling movement of a mobile robot mounted with a wide angle camera and a method thereof. An apparatus of recognizing a position of a mobile robot includes two wide angle cameras which obtain one pair of stereo images on a region of interest including a vertical direction and a horizontal direction in accordance with movement of a mobile robot; an inertial measurement unit (IMU) which obtains inertial information of a mobile robot; a position recognizing unit which predicts a movement point using one between first odometry information calculated based on at least one pair of stereo images and second odometry information calculated based on the inertial information and estimates a current position using the predicted movement point and a previously stored key frame, by a position recognizing unit; and a movement control unit which controls movement of the mobile robot based on the estimated position.