Autonomous driving module, mobile robot including the same, and position estimation method thereof

A mobile robot comprising:

• a light source configured to emit light toward a floor;
• a camera configured to capture the floor every predetermined time to generate a plurality of floor images;
• and
• an autonomous driving module,
• wherein the autonomous driving module comprises:
• a processor configured to execute instructions;
• and
• a memory configured to store the instructions,
• wherein the instructions are implemented to synchronize a plurality of pieces of height information with the plurality of floor images, remove a region generated by reflection of the light source from the synchronized floor images, detect features from the plurality of floor images from which the region generated by the reflection of the light source is removed, and estimate a position of the mobile robot according to the detected features.

A position estimation method of a mobile robot including a distance sensor configured to shoot a signal toward a floor every predetermined time and measure the time it takes for the signal to be reflected and returned to generate a plurality of pieces of height information, a light source configured to emit light toward the floor, and a camera configured to capture the floor every predetermined time to generate a plurality of floor images, the position estimation method comprising:

• an operation in which a processor synchronizes the plurality of pieces of height information with the plurality of floor images;
• an operation in which the processor removes a region generated by reflection of the light source from the synchronized floor images;
• an operation in which the processor detects features from the plurality of floor images from which the region generated by the reflection of the light source is removed;
• and
• an operation in which the processor estimates a position of the mobile robot according to the detected features.