POSE ESTIMATION APPARATUS USED IN A MOBILE ROBOT AND METHOD THEREOF

摘要

A pose estimation apparatus of a mobile robot is provided to reduce the number of demanded particles, and to reduce necessary size of a memory by applying development algorism to a particle filter method for estimating pose of the mobile robot. A pose estimation apparatus(200) of a mobile robot(100) comprises a sensor, a particle filter unit(210) and a development application unit(230). The sensor senses pose variation amount of the mobile robot. The particle filter unit applies the sensed pose variation amount to previous particles and finds pose and weight of present particles. The development application unit applies development algorism to the found pose and weight, and renews the pose and weight of the present particles.