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

摘要

Vision Sensor for obtaining information on the movement of information and a robot for the environment and motion sensors; Process the information of the vision sensor and a motion sensor to estimate the position of the robot , and the process of calculating the feature point information or space occupation information device ; Write device to update the map using the map information calculated on the processing apparatus; And SLAM system of a mobile robot comprising a driving determination unit for determining the robot's driving based on the position of the robot and the created map is disclosed. With the SLAM system that combines the vision sensor information with the motion sensor information in accordance with an embodiment of the present invention has the advantage of improving the accuracy of the system-wide in a matter of position recognition and mapping of the robot . ;