Method for estimating positioning of moving object by using big cell grid map, recording medium in which program for implementing same is stored, and computer program stored in medium in order to implement same

A method for estimating the posture of a moving object by using a big cell grid map implemented in a form of a program executed by a calculation processing means including a computer, the method comprising:

• a step (S10) of generating the big cell grid map, wherein the calculation processing means divides a map into a plurality of finite cells, and generates the big cell grid map in which map feature point information about a map feature point corresponding to a position of a corresponding cell is matched for each cell;
• a step (S30) of composing local map feature points, wherein the calculation processing means extracts the map feature point information on the basis of sensing information detected by the moving object with an environment sensor;
• a step (S40) of composing global map feature points, wherein the calculation processing means selects cells included in a detection area of the moving object on the basis of the sensing information of the step (S30) of composing the local map feature points, and extracts the map feature point information belonging to the selected cells;
• and
• a step (S50) of determining the posture, wherein the calculation processing means determines the position and the posture of the moving object on the basis of the map feature point information of the cells selected in the step (S40) of composing the global map feature points and the sensing information detected in the step (S30) of composing the local map feature points.