DEVICE AND METHOD FOR RECOGNIZING LOCATION OF MOBILE ROBOT BY MEANS OF EDGE-BASED READJUSTMENT

摘要

Disclosed are an apparatus for recognizing a position of a mobile robot using edge based refinement and a method thereof. An apparatus for 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; and a position recognizing unit which extracts an edge from the obtained stereo images, projects each seed in a given key frame based on the extracted edge, updates a status parameter indicating rotation and movement of an optical camera along a direction in which the calculated cost is increased as the projection result, and estimates a current position using the updated result