Patent ID: 8725416

Claim:
A position recognizing apparatus comprising: a range sensor which senses a distance between the position recognizing apparatus and a range landmark; a candidate range landmark information generating unit which generates a plurality of pieces of candidate range landmark information of a plurality of candidate range landmarks including the range landmark, wherein the plurality of pieces of candidate range landmark information are modeled using an initial position and a posture of the position recognizing apparatus, the sensed distance between the position recognizing apparatus and the range landmark and a preset angle to set the plurality of pieces of candidate range landmark information based on an initial travelling direction of the position recognizing apparatus; a range landmark extracting unit which, if a new distance between the position recognizing apparatus and the range landmark is sensed, updates the plurality of pieces of candidate range landmark information and extracts actual range landmark information of the range landmark among the updated plurality of pieces of candidate range landmark information by use of a covariance of the updated plurality of pieces of candidate range landmark information; and a position recognizing unit which recognizes a position of the position recognizing apparatus based on the extracted actual range landmark information.