Mobile robot device for correcting position by fusing image sensor and plurality of geomagnetic sensors, and control method

A mobile robot device, comprising:

• a driving unit;
• an image sensor;
• a plurality of geomagnetic sensors;
• a memory storing at least one instruction;
• and
• a processor configured to execute the at least one instruction,
• wherein the processor is configured to:
• obtain, while the mobile robot device moves through the driving unit, a plurality of image data through the image sensor and obtain sensing data through the plurality of geomagnetic sensors,
• extract a feature point from the plurality of image data and obtain key nodes based on the feature point,
• obtain a node sequence based on the sensing data,
• generate a graph structure estimating a position of the mobile robot device based on the key nodes and the node sequence,
• recognize a position of the mobile robot device based on the generated graph structure;
• based on failing in position recognition of the mobile robot device, stop generating the graph structure that estimates the position based on the key nodes and the node sequence;
• obtain new image data from the image sensor;
• obtain new sensing data through the plurality of geomagnetic sensors;
• obtain a new key node corresponding to the new image data and a new node sequence corresponding to the new sensing data;
• and
• correct the graph structure based on the new sensing data and the new node sequence.