Patent Document ID: 20100070078
Application ID: 12382187
Patent Status: 0

Claim One:
1. An apparatus for building a map, the apparatus comprising: an obstacle map builder for building an obstacle map on the basis of obtained obstacle detection information; a controller for building a feature map including a plurality of features, position information of the features, and information regarding degrees of uncertainty of the features on the basis of an amount of change in posture and an image obtained while a mobile robot moves, and localizing the mobile robot itself; a path generator for generating a moving path on the basis of the degrees of uncertainty of the features obtained by the mobile robot; and a drive controller for controlling the mobile robot to travel along the generated moving path, wherein the feature map and the obstacle map are updated on the basis of the amount of change in posture, the image and the obstacle detection information obtained while the mobile robot travels along the generated moving path.