Patent Document ID: 8954191
Application ID: 12718380
Patent Status: 1

Claim One:
1. A method for a mobile robot, the method comprising: dividing an entire region to be cleaned into a plurality of movement regions; obtaining image information at a predetermined time interval while moving within each of the plurality of movement regions; extracting feature points from the obtained image information, and making sub maps corresponding to each of the plurality of movement regions based on the extracted feature points; determining whether respective movement paths, generated by movement of the mobile robot, corresponding to the each of the plurality of movement regions form a closed curved line by checking whether a starting moving point and an ending moving point of the respective movement paths are the same as each other; compensating a sub map having a movement path, not forming a closed curved line, by connecting a starting point and an ending point of the movement path; and making a map of the entire region by connecting the sub maps.