Mobile robot estimating own position using a class-based own-position estimation unit

A mobile robot comprising:

• a measurement unit configured to measure an object in a space;
• a storage unit configured to store map data representing information about the object in the space determined in advance;
• an own-position estimation unit configured to calculate an own position of the mobile robot moving through the space by matching measurement data acquired by the measurement unit with the map data wherein the own-position estimation unit includes:
• a classification unit configured to acquire class-based measurement data obtained by classifying the measurement data into at least two predetermined classes;
• a class-based own-position estimation unit configured to estimate an estimated own position of the mobile robot for each of the at least two predetermined classes by matching a class-based map having a position of the objects recorded therein for each class with the class-based measurement data;
• an integration unit configured to integrate the estimated own positions for the respective at least two predetermined classes by taking a weighted average of the estimated own positions to determine a determined own position;
• and wherein the mobile robot includes
• a control unit configured to control the mobile robot based on the determined own position from the integration unit.