Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2007-09-14
2011-11-08
Nguyen, John (Department: 3665)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S245000, C700S250000, C700S258000, C700S259000, C701S023000, C701S025000, C701S026000, C701S207000, C701S208000, C901S001000, C901S046000, C901S047000
Reexamination Certificate
active
08055382
ABSTRACT:
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, predicting the probability of the pose of the current particle and obtaining a weight of the current particle 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
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Bang Seok-won
Kong Dong-geon
Lee Su-jinn
Myeong Hyeon
Fei Jordan
Nguyen John
Samsung Electronics Co,. Ltd.
Staas & Halsey , LLP
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