Method for measuring pose of a mobile robot and method and apparatus for measuring position of the mobile robot using the method

摘要

The present invention is a camera , the posture of the mobile robot using an inertial sensor and encoder measurement and localization of mobile robots relates to . ; position measuring system of a mobile robot according to an embodiment of the present invention , and an accelerometer for measuring a linear acceleration of the mobile robot , the acceleration section and the constant-speed movement of the mobile robot is and a constant-speed determination unit configured to determine the interval in which the movement , the mobile robot is in the interval of the uniform motion , the measured linear acceleration and using the relationship between the acceleration of gravity , calculating the pitch and roll attitude of the mobile robot calculations made part .