MOBILE ROBOT AND METHOD FOR CONTROLLING THE SAME

摘要

A movable robot and a control method thereof are disclosed. Embodiments of the present invention enables the recognition of positions or the production of an indoor map by using a 3D distance sensor. The embodiments of the present invention utilizes the 3D distance sensor; and can recognize the positions or produce a 3D map by extracting at least one plane from 3D distance images and matching the planes. The embodiments of the present invention computes a relative position in relation to the sensor frames by utilizing the sensed values of the 3D distance sensor and produce a 3D map based on the results of the computation. [Reference numerals] (AA) Start;(BB) No;(CC) Yes;(DD) End;(S100) Obtaining 3D distance images;(S200) Extracting planes;(S300) Matching the planes;(S400) Computing a relative position in relation to the sensor frames;(S500) Merging conditions?;(S600) Merging the planes;(S700) Computing a relative position in relation to the merged frames;(S800) Correcting the position by optimizing the relative position;(S900) Producing a 3D map