Method, medium, and apparatus for global localization

Details Method, medium, and apparatus for global localization Method, medium, and apparatus for global localization

2007-10-09

2007-10-09

Pihulic, Daniel T (Department: 3662)

Communications, electrical: acoustic wave systems and devices

Distance or direction finding

C700S253000

Reexamination Certificate

active

11089213

ABSTRACT:
A global localization apparatus, medium, and method, with the global localization method including selecting one from a plurality of samples and shifting the selected sample according to a movement of a robot, generating a new sample within a predetermined range of the shifted sample, determining either the shifted sample or the new sample as a next sample at a next time step according to a predetermined condition for the shifted sample and the next sample, repeating for all the samples, and estimating a next position of the robot according to positions of the next samples when the number of next samples is equal to or larger than the maximum number of samples.

REFERENCES:
patent: 2005/0213431 (2005-09-01), Wang et al.
patent: 5-27832 (1993-02-01), None
patent: 11-249734 (1999-09-01), None
Richter et al.; Mobile Robot Localization; Oct. 2003; www.robocup.tugraz.at/downloads/mobile—robot—localization.pdf; pp. 1-43.
Office Action issued by the Korean Patent Office on Sep. 28, 2005.

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