Patent Document ID: 8781164
Application ID: 13219290
Patent Status: 1

Claim One:
1. A mobile robot, comprising: an image detection unit configured to detect one or more images in a vicinity of the mobile robot; a straight line extraction unit configured to extract one or more straight lines from at least one of the one or more images; a feature line extraction unit configured to extract, from the one or more straight lines, one or more feature lines toward a center of the at least one of the one or more images; a feature point extraction unit configured to extract one or more feature points from the at least one of the one or more images and to determine whether the extracted one or more feature points are one or more intersection points between one of the one or more feature lines and one of the one or more straight lines as one or more feature points; and a control unit configured to match the one or more feature points determined as the one or more intersection points with feature points of the at least one of the one or more images, and to recognize a position of the mobile robot based on a result of the feature point matching.