The present invention provides a kind of robots of position for identification to utilize indoors artificial road sign, natural terrestrial reference, encoder and inertial sensor. Which Indoor Robot, including image obtain and obtain image; The acquired image of which processing of image procossing; Map generates unit, generates the result images of maps processing; Location identification unit, that define the maps of the result images of the position of robot processing and generation; With Co-factor propagation unit, the information and inertial sensor of this fusion device and identified position. Indoor Robot the present invention provides this method of position for identification includes that the first step checks that nature terrestrial reference or artificial landmark are present in input picture; In the image that the first step removes the noise, there are nature terrestrial references or artificial landmark to examine for these images; Extraction property point is naturally from landmark image in the first step; Extraction property point is from above-mentioned input picture in the first step; Characteristic point of the binary-coded algorithm based on information extraction is carried out in the first step; The natural terrestrial reference and artificial landmark information and the binary-coded algorithm of performance and match information that one step is registered; Using Kalman filter, it corrects position to step; Position and info encoder and inertial sensor with which fuse correction. ;The 2014 of copyright KIPO submissions
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