发明名称 |
Method, apparatus, and medium for estimating pose of mobile robot using particle filter |
摘要 |
Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle (S100), predicting the probability of the pose of the current particle and obtaining a weight of the current particle (S120) on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor (S140). |
申请公布号 |
EP1923763(A1) |
申请公布日期 |
2008.05.21 |
申请号 |
EP20070120844 |
申请日期 |
2007.11.16 |
申请人 |
SAMSUNG ELECTRONICS CO., LTD. |
发明人 |
MEYEONG, HYEON;BANG, SEOK-WON;KONG, DONG-GEON;LEE, SU-JINN |
分类号 |
G05D1/02 |
主分类号 |
G05D1/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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