Method, apparatus, and medium for building grid map in mobile robot and method, apparatus, and medium for cell decomposition that uses grid map

摘要

Provided are a method, apparatus, and medium for building a grid map in a mobile robot and a method, apparatus, and medium for cell decomposition using the grid map building method and apparatus. A mobile robot for building a grid map includes a grid map building unit obtaining grid points by sensing a distance to an external space or obstacle, and building a grid map, a feature point extraction unit extracting feature points from the grid points, a feature point update unit estimating the pose of the robot after the robot moves, and obtaining updated feature points by SLAM (Simultaneous Localization And Map building) algorithm, a transform formula calculation unit calculating a transform formula that transforms feature points extracted by the feature point extraction unit into feature points updated by the feature point update unit, and a grid map update unit updating the grid map according to the obtained formula.