HYBRID MAP BASED LOCALIZATION METHOD OF ROBOT

摘要

The present invention provides a position recognition method of hybrid map based robots to effectively respond to situations such as kidnap problems in an environment without GPS and to accurately recognize current positions, including processes of acquiring information on surrounding environments using a laser sensor and a camera; determining laser key frames from the laser information acquired through the laser sensor to generate a metric map; determining image key frames capable of expressing each feature from the image information acquired through a camera to generate a topological map; connecting the laser key frames and the image key frames by determining weights according to the sensor characteristics along with determination of integrated key frames; and connecting a local metric map prepared by using ICP algorithm between integrated frames with each laser and image key frame according to differences in a distance from the integrated key frames, thereby recognizing the current position. [Reference numerals] (S12) Laser information acquisition; (S14) Image information acquisition; (S20) Metric map generation; (S30) Topological map generation; (S40) Integrated key frame determination; (S50) Current position recognition