APPARATUS AND METHOD FOR GLOBAL LOCALIZATION AND MAP UPDATE FOR MOBILE ROBOT

摘要

An apparatus for global localization and map update for a mobile robot according to the present invention includes a hypothesis generating unit that generates hypotheses on a position and a direction of the mobile robot by matching landmarks found in the mobile robot with landmarks of a given map; a hypothesis tracking unit that updates state information of the respective hypotheses, the state information including position and direction information of the hypotheses and map information corresponding to the hypotheses; a hypothesis scoring unit that provides hypothesis reliability evaluation scores for the respective hypotheses; and a hypothesis selection unit that selects one of the hypotheses based on the provided score and determines the position and direction information of the state information of the selected hypothesis and the map information as the position and direction of the mobile robot and an updated map.