METHOD FOR LOCALIZING INTELLIGENT MOBILE ROBOT BY USING A LATERAL LANDMARK

摘要

PURPOSE: A localization method of an intelligent mobile robot recognizing side landmarks is provided to stably recognize a location through side landmarks even though a ceiling is high or the landmarks are not existed in and end region of a localization system. CONSTITUTION: A localization method of an intelligent mobile robot(22) is as follows. Side images and ceiling images are separated from obtained images. The separated images of the lateral side are flattened. Whether or not the landmarks are existed in the flattened side images is confirmed. Whether or not the landmarks are existed in the separated ceiling images is confirmed. The noise of the confirmed images is eliminated. A feature point of the landmarks is extracted from the images. A binarization algorithm performed by using information with respect to the feature point. The information obtained by performing the binarization algorithm and the registered landmarks are compared and matched. A location correction is performed by using a Kalman filter.