Self-localization apparatus and method for indoor mobile vehicle

摘要

The present invention relates to an integral self location recognition apparatus and method for performing a given task, and the mobile robot for indoor running autonomously traveling in, is installed on the vehicle autonomously running in the interior corridor of the present invention a magnetic position device for recognizing the vertical line and the hall of an object that the two lines are five dots formed in a selected one of feature points of information and objects according to the coordinates of a feature point of the object determined by points meet to form an edge of the bottom projection invariant formed in the corridor a hash value corresponding to the key is configured to model including a hash pyoeul store information about the five points, the selected base; A pre-processing unit for extracting feature points of an image from a given image; And the hash value corresponding to the projection of the image invariants which are formed five points selected one of the feature points of the image key to obtain the information about the coordinates of the feature point of the object in the hash table corresponding to the recognition section; From the information about the feature point coordinates of the object obtained from the recognition unit and is characterized in that it includes a self-location notification for calculating a self-location of the vehicle; According to the present invention, a self location recognition without prior information about the camera calibration, and the robot can be possible, and efficiently perform the recognition and self-location calculation due to build the hash table model with a projection invariant by the feature point.