FAST ROTATION-INVARIANT FEATURE MATCHING METHOD, MOBILE ROBOT UNIT BASED ON THE CEILING IMAGE/FEATURE MAP WITH USING THE MEHOD, AND METHOD FOR RECOGNIZING THE SELF POSITION OF THE SAME UNIT

摘要

PURPOSE: A fast rotation-invariant feature matching method, a mobile robot based on a ceiling image, and a position recognizing method thereof are provided to reduce operation load by accurately performing calculations. CONSTITUTION: A fast rotation-invariant feature matching method is as follows. Video information inputted through a video input part(100) is processed. A feature is extracted based on current video information. Feature matching is determined in advance based on the extracted feature and the information about a reference feature set in a storing unit. The matching state is determined by extracting a feature image from the feature in a feature matching determining step and splitting the feature image.