Apparatus for localization using image and range data and method thereof

Abstract

A localization apparatus and method for localizing by use of image information and range data are provided. The localization apparatus includes an image sensor which captures an image and outputs image data, a range sensor which senses a distance and outputs a range sensing signal, an image feature point information processing unit which extracts image feature points from the sensed image and generates image feature point information about the extracted image feature points, a range feature point information processing unit which generates range feature point information about range feature points from the range sensing signal, and a state estimation unit which estimates a state variable including a position of the localization apparatus by using the image feature point information and the range feature point information as an observation value.

Dependencies are inferred from the claim text.