SLAM SYSTEM FOR MOBILE ROBOT BASED ON VISION SENSOR DATA AND MOTION SENSOR DATA FUSION

摘要

Disclosed in the present invention is a slam system for a mobile robot, which comprises: a vision sensor and a motion sensor which obtain information on the environment and information on the movement of a robot; a processing device which estimates the position of the robot by processing the information from the vision sensor and the motion sensor, and calculates information on feature points or information on space occupation; a map developing device which updates a map using the information calculated by the processing device; and a driving determining device which determines the driving of the robot based on the developed map and the position of the robot. When using the slam system which fuses vision sensor information with motion sensor information according to an embodiment of the present invention, the accuracy of the whole system is improved in terms of robot position recognition and map development. [Reference numerals] (110) Vision sensor; (120) Motion sensor; (130) Map developing device; (140) Driving determining device; (200) Processing device; (210) First processing device; (220) Second processing device; (230) Third processing device