Patent ID: 9563528
Date: 2017-02-07
CPC Classifications: G05D,G06F

Claim:
1. A mobile apparatus, comprising: a plurality of sensors; a plurality of first distribution filters configured to generate current relative position information of the mobile apparatus using sensor information detected by the plurality of sensors; at least one second distribution filter configured to generate current absolute position information of the mobile apparatus using the sensor information detected by the plurality of sensors; and a fusion filter configured to fuse the relative position information of the plurality of first distribution filters and the absolute position information of the at least one second distribution filter to perform localization of the mobile apparatus; wherein the at least one second distribution filter is further configured to generate the absolute position information through detection of at least one node predetermined on a space on which the mobile apparatus moves, wherein the fusion filter is further configured to transmit updated position/pose information of the mobile apparatus to the plurality of first distribution filters, and wherein the first distribution filters are further configured to assimilate the updated position/pose information from the fusion filter for generating the current relative position information of the mobile apparatus.