Patent Document ID: 9062980
Application ID: 14359335
Patent Status: 1

Claim One:
1. An autonomous mobile system for a mobile body which moves while localizing itself in a space, the system comprising: a processor; a measuring unit that measures whether objects are present or absent in each of regions determined by dividing the space into a plurality of segments according to a predetermined rule; a storage device, coupled to the processor, that stores map data indicating a region of the determined regions that has been set as having a stationary object in the region; wherein the processor includes a determining unit that determines, from frequency of the object detection by the measuring unit during a predetermined time for each of the determined regions, whether the object that has been detected in the region is a stationary object or a moving object; and a localizer that localizes the mobile body by matching the region having therein the stationary object which the determining unit has determined to be present, and the region that was set in the map data as having a stationary object in the region.