Patent ID: 8493636

Claim:
A method for tracking the motion of a scanning device, the method comprising: collecting, at a time interval Δt s over a period of time Δt for one cycle of scanning process, surrounding information by the (n)th scanning process, wherein n≧2, and n is a natural number (S 1 ), and the surrounding information includes a set of distance data regarding a plurality of points of the surroundings recognized by the scanning device; comparing the surrounding information by the (n)th scanning process and the surrounding information by a previous scanning process, and obtaining the displacement data of said scanning device based on that comparison (S 2 ); updating the velocity of said scanning device using said displacement data of said scanning device obtained in S 2 (S 3 ); correcting the surrounding information collected over said (n)th scanning process, based on said velocity of said scanning device updated in S 3 and said time interval Δt s (S 4 ); and determining location and position information of said scanning device using said surrounding information collected over said (n)th scanning process and corrected in S 4 (S 5 ).