Apparatus and Method for Double-Updating in simultaneous localization and mapping for a mobile robot

摘要

The present invention is characterized by linear features and intersections in the case of a mobile robot calibration position and map precise linear feature within the map, and relates to a mobile robot that can be efficiently self-location estimation and correction map of the location and the map of the mobile robot and a method for building a dual compensator. Dual compensator and map the location of the mobile robot according to the present invention for this purpose is to obtain the above image pickup image of the mobile robot unit; Ceiling image extraction unit for extracting the image from the acquired image the ceiling; Feature extraction unit for extracting at least two kinds of characteristic information extracted from the ceiling image; And of the at least two kinds of feature information on the basis of any of the characteristic information correcting the position information and the map information of the one feature information of the mobile robot comprises a control unit for updating the location information and the map information of the mobile robot . ;