APPARATUS FOR RECOGNIZING LOCATION MOBILE ROBOT USING EDGE BASED REFINEMENT AND METHOD THEREOF

摘要

Disclosed are a device and method to recognize a location of a mobile robot using direct tracking. According to the present invention, the device to recognize the location of a mobile robot using direct tracking comprises: two wide-angle cameras which obtains a pair of stereo images to an area of interest including a vertical and horizontal direction in accordance to an operation of a mobile robot; and a location recognizing part which extracts an edge from the obtained stereo images to project each seed in a key frame provided based on the extracted edge, and estimates the present location of the mobile robot by updating a status parameter showing a rotation and movement of the cameras using a brightness error in the projected seed calculated by the projected results, and using the updated results.