Method for generating intersection point pattern recognition model using sensor data of mobile robot and intersection point pattern recognition system

An intersection point pattern recognition system, comprising:

• a mobile robot that autonomously drives by using sensor data received from a sensor unit and an intersection point pattern recognition model provided by a management server;
• and
• a management server that receives usage environment information of the mobile robot and generates the intersection point pattern recognition model of the mobile robot to provide the intersection pattern recognition model to the mobile robot,
• wherein the management server comprises a processor that:
• receives the usage environment information of the mobile robot and generates a route map of the mobile robot based on the usage environment information;
• generates a virtual map by normalizing the route map according to a preset rule;
• and
• generates the intersection point pattern recognition model by using the virtual map and the sensor data of the mobile robot as learning data,
• wherein the route map is made of a grid-shape map, and
• wherein the processor generates the virtual map by normalizing the route map, so that a distance between intersection points has an integer multiple of a unit length.