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mobile robots and Localization method using fusion image sensor and multiple magnetic sensors
mobile robots and Localization method using fusion image sensor and multiple magnetic sensors
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机译：移动机器人及其融合图像传感器和多磁传感器的定位方法
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摘要
The present invention provides a mobile robot device and a control method for the same. The purpose of the present invention is to provide the mobile robot device, capable of more efficiently using graph SLAM technique by fusing multiple geomagnetic sensors and an image sensor, having different properties. According to the present invention, the mobile robot device includes: a driving unit, the image sensor, the multiple geomagnetic sensors, a memory storing at least one instruction, and a processor performing the at least one instruction. The processor obtains multiple pieces of image data by the image sensor while the mobile robot device moves by the driving unit, obtains sensing data by the multiple geomagnetic sensors, extracts a feature point from the multiple pieces of the image data, obtains key nodes based on the feature point, obtains a node sequence based on the sensing data, generates a graph structure estimating the position of the mobile robot device based on the key nodes and the node sequence, and can corrects the graph structure in the case of failing position recognition of the mobile robot device.
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