AUTONOMOUS DRIVING METHOD AND ROBOT USING RECOGNITION SCENE BASED ON STRAIGHT LINE INFORMATION

摘要

The present invention relates to an autonomous driving method of a robot using place recognition based on straight line information and an autonomous driving robot. More specifically, the autonomous driving method of a robot using place recognition based on straight line information, comprises: a step of obtaining a plurality of images wherein an image obtaining part continuously photographs a front on a current position at a certain place using a camera disposed on a front surface to obtain the plurality of images; steps of detecting information and storing the detected information in a database wherein an information detecting part detects straight line information indicating features of the certain position and motion information indicating a motion change of the robot from the plurality of obtained images, and stores the detected straight line and motion information in the database; a step of generating a local grid map wherein a map generating part generates the local grid map including whether an obstacle exists in the certain place using a plurality of kinect sensors; a step of determining a current position of the robot, wherein a position determining part determines the current position of the robot after recognizing a place in respect of the certain place based on the straight line information included in the plurality of images; a step of obtaining a migration route of the robot wherein a route obtaining part receives the stored motion information from the database, and obtains the migration route of the robot based on the information; and a step of driving the robot wherein a driving part drives the robot along the obtained migration route. Due to the features of the present invention, if the robot previously visited a certain place, the robot is able to autonomously move to a desired destination in the certain place with ease using only images taken on the certain place without a map.