PLANE EXTRACTING METHOD, AND MAP BUILDING AND POSITION RECOGNIZING METHOD HAVING SAME AND USING MOBILE ROBOT

摘要

The present invention is to provide a plane extracting method, and a map building and position recognizing method having the same and using a mobile robot, wherein the map building and position recognizing method comprises: a providing step of providing the mobile robot including a detecting part, a storing part, a calculating part, a controlling part, and a driving part; a detecting step of allowing the detecting part to detect point data for a peripheral area depending on the detection control signal of the controlling part; a plane feature extracting step of allowing the controlling part to extract plane features using the point data detected by the detecting part and predetermined data in the storing part; and a data associating step of matching map data for a peripheral environment using a space relation derived from prior plane features and present plane features, wherein the map data for the peripheral area is obtained by the motion of the mobile robot. In the plane feature extracting step, a potential cue sequentially storing point data with cube units and data for the corresponding cube units, and a plane cue receiving the data for the cube units from the potential cue are used so that a plane extracting process for hierarchically and differentially partitioning the point data or integrating the plane features depending on the complexity of the peripheral environment is possible, wherein the point data with the cube units is generated by partitioning the point data for the peripheral environment into predetermined cube sizes, and the data for the cube units has single plane features after sequentially processed in the potential cue.;COPYRIGHT KIPO 2014