POSITION ESTIMATION BASED MAP DRAWING METHOD AND MAP DRAWING ROBOT

摘要

The present invention relates to a position estimation based map drawing method and a robot using the same. An embodiment of the present invention provides the position estimation based map drawing method and a map drawing robot, wherein the method comprises the steps of: (a) generating reference map data via a scanning operation; (b) estimating a movement position to which the robot moves; (c) comparing the estimated position of the robot, the reference map data and measurement data measured on a position to which the robot has moved with one another via an iterative closest point (ICP) algorithm correcting information on the position to which the robot has moved; and (d) correcting the map via the scanning operation in the robot located on the corrected position. According to the present invention, the position estimation based map drawing method and the map drawing robot can generate the map swiftly and precisely.;COPYRIGHT KIPO 2014