Apparatus and method for estimating position and orientation of mobile robot

摘要

Apparatus comprising: a ceiling image grabber for obtaining a ceiling image of a place in which the mobile robot travels; a mark detector for detecting a retro-reflective artificial mark from the ceiling image, the retro-reflective artificial mark comprising a first mark and a second mark, each including a non-reflective portion and an infrared reflective portion; and a position & orientation estimator for estimating a the position and the orientation of the robot using a position of the artificial mark or encoder information according to whether detection of the artificial mark has succeeded or not.