Apparatus, method, and medium for dividing regions by using feature points and mobile robot using the same

An apparatus for dividing regions by using feature points, the apparatus comprising:

• a grid map forming unit to form a grid map by using a plurality of grid points that are obtained by detecting obstacles;
• a feature point extracting unit to extract feature points from the grid map;
• pairs of final feature points extracting unit to extract pairs of final feature points, which satisfy the requirements of a region division element, from the feature points;
• a critical line forming unit to form a critical line by connecting the pairs of final feature points;
• and
• a region forming unit to form a final region in accordance with the size relationship between the regions formed of a closed curve which connects the critical line and the grid map.

A mobile robot having an apparatus for dividing regions by using feature points, the apparatus comprising:

• a grid map forming unit to form a grid map by using a plurality of grid points that are obtained by detecting obstacles;
• a feature point extracting unit to extract feature points from the grid map;
• pairs of final feature points extracting unit to extract pairs of final feature points, which satisfy the requirements of a region division element, from the feature points;
• a critical line forming unit to form a critical line by connecting the pairs of final feature points;
• and
• a region forming unit to form a final region in accordance with the size relationship between the regions formed of a closed curve which connects the critical line and the grid map.