AUTONOMOUS TOPOLOGICAL MAPPING METHOD OF MEDIUM-LARGE SIZE SPACE USING UPWARD SINGLE CAMERA

摘要

PURPOSE: An autonomous phase map generating method in a medium and large sized space using a bottom-up signal camera is provided to reduce map making errors caused by the height of a ceiling by extracting a landmark not influenced by the height of the ceiling. CONSTITUTION: A landmark in a current position of a robot extracted from an input image is matched with a preregistered landmark to obtain landmark difference information(S10). Sub nodes in a predetermined distance from a base node are generated to be registered in a phase map(S20). Landmark difference information is applied to a Kalman filter to correct positions of the registered nodes(S30). [Reference numerals] (AA) Start; (BB) End; (S10) Obtain landmark difference information by matching a landmark in the current position of a robot extracted from an input image with a preregistered landmark; (S20) Generate sub nodes in a predetermined distance from a base node through self-driving of the robot and register in a phase map; (S30) Correct the position of the robot and the positions of the nodes registered in the phase map by applying the landmark difference information to a Kalman filter