MOVING ROBOT AND METHOD OF RECOGNIZING A CEILING REGION FOR LOCALIZATION THEREOF

摘要

PURPOSE: A moving robot and a ceiling domain recognizing method for recognizing self location and directivity of a moving robot are provided to conveniently distinguish a characteristic point which does not affine by distinguishing only a characteristic point in a ceiling area. CONSTITUTION: A pattern segmentation of an obtained ceiling image is performed(S230). An image area including central coordinate of a robot is extracted as a ceiling candidate area(S240). An image area which is included in the extracted ceiling candidate area is recognized as a ceiling area(S250). The recognized ceiling area is distinguished(S260). The edge of the distinguished ceiling area is set between a ceiling and a wall surface as an edge(S270).