Patent ID: 8818016

Claim:
A localization apparatus comprising: an image sensor which captures an image and outputs image data; a range sensor which receives a range sensing signal transmitted from a transmitter which is located in a range feature point and outputs the received range sensing signal; an image feature point information processing unit configured to extract image feature points from the image data output by the image sensor and generates image feature point information about the extracted image feature points; a range feature point information processing unit which generates range feature point information about the range feature point from the range sensing signal; and a state estimation unit which estimates a state variable comprising a position of the localization apparatus by using the image feature point information and the range feature point information as an observation value, wherein the state estimation unit increases an uncertainty of the range feature point information in proportion to an average height of the image feature points and estimates the state variable by use of the image feature point information and the range feature point information, to which the increased uncertainty is applied.