Mobile Robot and 3D Global Position Recognition Apparatus Using Pose Estimation Based on Deep Learning

摘要

The present embodiments convert camera posture information estimated using an image-based posture regression model into initial posture information of a distance measurement sensor and recognize the position through a particle filter model from the surrounding area of the initial posture information rather than the entire area, Provided is a mobile robot that can quickly perform re-localization by resetting the initial position even in a situation where the robot is moved to an arbitrary position by a collision or other object and the position recognition fails.