Method and system for creating indoor environment map

摘要

A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position with the measured position, and creating the indoor environment map using the corrected position and the measured distance.

主权项

1. A system for creating an indoor environment map, comprising:
a mobile unit, having wheels to freely travel, the mobile unit having a distance measuring beam sensor and a plurality of encoders mounted to the corresponding wheels, the mobile unit acquiring encoded information by detecting revolutions of the wheels using the plurality of encoders when the mobile unit travels, the mobile unit measuring a distance from the mobile unit to an object existing in a surrounding environment using the distance measuring beam sensor when the mobile unit travels; a position prediction unit predicting a position of the mobile unit based on the encoded information and determining whether or not to correct the position of the mobile unit by applying an extended Kalman filter; and wherein the position of the mobile unit is corrected manually by using the measured distance when an extended Kalman filter is not applied; map creating unit creating the indoor environment map using the corrected position of the mobile unit.