SERVER AND METHOD FOR GENERATING MAP BASED ON OBJECT DATA AND ROBOT MOVING BASED ON OBJECT MAP

摘要

A server for generating a map based on object information includes a pose information collecting unit that collects pose information at a specific location within the specific location from a mobile robot traveling in a specific location, and a pose information of the collected mobile robot. A basic pose graph generating unit for generating a basic pose graph including a plurality of basic nodes located in the specific place and at least one basic edge connecting between the plurality of basic nodes based on the basic pose graph generation unit, from the mobile robot An image receiving unit for receiving an image photographed through a camera, a layered pose graph generating unit for generating at least one layered pose graph for an object located in the specific place based on the received image and the basic pose graph, and the basic pose and a map generator configured to generate a map for the specific place based on a graph and the at least one layered pose graph.