Patent ID: 11858149
Assignee: LG ELECTRONICS INC.
Field: Control (Instruments)
Classification: CPC B  G | IPC B

Claim 7:
8. A method of localizing a robot comprising:
determining an image obtaining characteristic for obtaining images during a rotation method, the determined image obtaining characteristic is based on reference information of a set of reference images stored on a memory;
rotating the robot at a specific point for localization based on the determined image obtaining characteristic during the rotation method;
receiving a plurality of sequential images based on the determined image obtaining characteristic during the rotating of the robot;
inputting the plurality of sequential images to a trained model based on an artificial neural network; and
estimating at least one of a position and a pose of the robot at the specific point based on the plurality of sequential images inputted to the trained model,
wherein the trained model is trained to associate the set of reference images acquired from at least one location with a global position or a global pose of the at least one location, and
the reference information includes at least one of image obtaining information on an angle covered by each of the plurality of reference images, image obtaining information on an order and a direction of the plurality of reference images, image obtaining information regarding a number of cameras used to obtain the plurality of reference images, and image obtaining information regarding a number of key features in the plurality of reference images and complexity of the plurality of reference images derived based on the number of key features.