Patent Document ID: 9798957
Application ID: 14868828
Patent Status: 1

Claim One:
1. A control method for a robot cleaner, comprising: acquiring a plurality of images of surroundings during travel of the robot cleaner in a cleaning area, by an image acquisition unit; estimating a plurality of room-specific feature distributions according to a rule defined for each of a plurality of rooms, based on the images acquired while acquiring the plurality of images, by a feature distribution learning module; acquiring an image of surroundings at a current position of the robot cleaner, by the image acquisition unit; obtaining a comparison reference group comprising a plurality of room feature distributions by applying the rule for each of the plurality of rooms to the image acquired while acquiring the image at the current position, by a position recognition module; comparing the obtained comparison reference group with the estimated room-specific feature distributions, by the position recognition module; and determining a room from the plurality of rooms having the robot cleaner currently located therein, by the position recognition module, wherein the estimating a plurality of room-specific feature distributions comprises: estimating a plurality of room feature distributions for the images acquired in the acquiring of the plurality of images; and estimating a room-specific feature distribution for each of the plurality of rooms from the images acquired based on the estimated feature distributions for the images, wherein the estimating of the plurality of room feature distributions comprises: detecting a plurality of room features in the images acquired in the acquiring of the plurality of images; creating a plurality of labels for the room features according to the rule defined for each of the rooms; and scoring the labels and estimating a label-specific score distribution for each of the images, wherein the estimating of the room-specific feature distribution comprises: estimating a label-specific score distribution for each of the rooms based on the label-specific score distribution for each of the images.