Patent ID: 8315737

Claim:
A method of locating a robot, comprising: obtaining information on absolute coordinates of a space where the robot will move; obtaining information on relative coordinates of the space comprising running the robot in the space; obtaining coordinate transformation information comprising comparing the information on absolute coordinates with the information on relative coordinates; and perceiving the robot position comprising transforming a position of the information relative coordinates to a position of the information absolute coordinates using the coordinate transformation information, wherein the obtaining of the information relative coordinates comprises detecting a distance and an angle of the robot with respect to a wall in accordance with the movement of the robot during a wall following operation of the robot, and obtaining the information on relative coordinates regarding the space comprising inputting the detected state quantity to a Kalman filter, and wherein the obtaining of the coordinate transformation information comprises matching the information on absolute coordinates with the information on relative coordinates comprising using rotation translation by iterated closest point (ICP) correspondence, and calculating the coordinate transformation information based on the matching the information on absolute coordinates.