Patent ID: 8588512

Claim:
A localization method of a moving robot, the method comprising: capturing a first omni-directional image by the moving robot; confirming at least one node at which a second omni-directional image having a highest correlation with the first omni-directional image is captured, from a selection of at least three nodes at which a second omni-directional image having a high correlation with the first omni-directional image is captured; determining that the confirmed at least one node from the selection of at least three nodes has a correlation coefficient higher than a reference value; and determining that the moving robot is located at a first node when the moving robot reaches the first node, at which the second omni-directional image having a highest correlation with the first omni-directional image is captured, from selection of at least three nodes; wherein, determining whether the remaining nodes other than the first node from among the at least one node are effective or not, and moving the moving robot to move to a heading angle determined according to the number of effective nodes, so that the moving robot approaches the first node, wherein, the number of the at least one node is “3”, the moving direction of the moving robot is set to the heading angle when the number of effective nodes is “0”, the direction from the effective node to the first node is set to the heading angle direction when the number of effective nodes is “1”, and the direction from a gravity center of a triangle composed of the first node and two effective nodes to the first node is set to the heading angle when the number of effective nodes is “2”.