Patent ID: 7747348
Filing Date: 2010-06-29
Classification: G05D,Y10S

Abstract:
1. A method of determining a rotational movement amount of a mobile device comprising: generating a posture initialization signal of the mobile device; determining whether a posture of the mobile device is required by using a correction checking device; obtaining images at two different points on a path along which the mobile device moves by using an image obtaining device in response to the correction checking unit when a correction of the posture of the mobile device is required; searching for matching points with respect to the obtained images and obtaining an image coordinate value of each of the matching points; sensing linear movement of the mobile device and obtaining a linear movement amount from a sensing device; and obtaining the rotational movement amount by calculating the image coordinate values together with the linear movement amount; and updating posture of the mobile device using the linear movement amount and the rotational movement amount by using a posture updating device; determining whether the mobile device arrived at a target position by using a position checking device and outputting a result to the correction checking device; and generating a movement control signal by using a control unit upon determining the correction of the posture of the mobile device is not required, wherein the calculating of the image coordinate values together with the linear movement amount includes multiplying the image coordinate values with a cross product calculation of the linear movement amount.