METHOD FOR EVALUATING TYPE OF DISTANCE MEASURED BY LASER RANGE FINDER AND METHOD FOR ESTIMATING POSITON OF MOBILE ROBOT BY USING SAME

摘要

The present invention relates to a method for determining the type of distance measured by a laser range finder and a method for estimating the positon of a mobile robot by using the same. The method for determining the type of the measured distance, according to the present invention, comprises: a sample extraction step for extracting a plurality of preliminary samples on the basis of an estimated pose with respect to a current position; a reference set calculation step for calculating a reference distance set for each preliminary sample by applying each preliminary sample to a pre-registered reference distance calculation algorithm, wherein the reference distance set comprises reference distances for each of the plurality of distance types; a distance type extraction step for extracting the types of the distances for each reference distance set on the basis of the smallest distance error among the distance errors between each reference distance forming the reference distance set and the measured distance; and a distance type evaluation step for evaluating the type of the measured distance on the basis of the distance type that is determined with respect to each reference distance set. Accordingly, position estimation using the distance measured by the laser range finder is effective against an object having light transmittance such as a glass wall, an opening and closing door, unknown obstacles and the like.