Method of measuring pose of mobile robot and method and apparatus for measuring position of mobile robot using the same

An apparatus for measuring the position of a mobile robot, comprising:

• an accelerometer measuring the acceleration of the mobile robot in a forward direction;
• a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section;
• a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity;
• a camera disposed on an upper surface of the mobile robot to capture a ceiling image;
• a feature-point-extracting unit extracting feature points from the captured ceiling image;
• a feature-point-compensating unit compensating for the coordinates of the extracted feature point using the calculated pitch and roll;
• and
• a position-calculating unit calculating the displacement of the mobile robot on the basis of the feature point whose coordinates are compensated.

A method of measuring the pose of a mobile robot, comprising:

• measuring acceleration of the mobile robot in a forward direction using an accelerometer;
• determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section;
• and
• calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity.

A method of measuring the position of a mobile robot, comprising:

• measuring acceleration of the mobile robot in a forward direction using an accelerometer;
• determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section;
• calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity;
• capturing a ceiling image;
• extracting feature points from the captured ceiling image;
• compensating for the coordinates of the extracted feature point using the calculated pitch and roll;
• and
• calculating the displacement of the mobile robot on the basis of the feature point whose coordinates have been compensated.