METHOD AND APPARATUS OF POSE ESTIMATION IN A MOBILE ROBOT BASED ON PARTICLE FILTER

摘要

A pose estimation method and apparatus of a mobile robot are provided to estimate the pose of the mobile robot more effectively and accurately by applying a particle filter and regulating noise covariance. A pose estimation apparatus of a mobile robot(100) comprises an odometer(120) sensing the pose variation of the robot, a feature processing unit(140) extracting feature from the image taken by a camera(130), where the feature includes multiple feature points such as feature point or line, and a particle filter unit(150) calculating the pose and weighted value of current particles by applying the detected pose variation and the feature to the former particles. The particle filter unit includes a pose prediction part, a sampling part, and a weighted value calculation part.