Patent Document ID: 9125539
Application ID: 13809530
Patent Status: 1

Claim One:
1. A robot cleaner, comprising: an image detecting unit configured to detect a plurality of images by capturing peripheral circumstances; a feature point extracting unit configured to extract a plurality of feature points with respect to each of the plurality of images, and to create a feature point set consisting of the plurality of feature points; a feature point matching unit configured to match the feature points with each other through comparisons; and a control unit configured to recognize a position of the robot cleaner based on a matching result, wherein the feature point comprises feature point information consisting of a position, an orientation and a descriptor of the feature point on the image, and the descriptor indicates extraction information of the feature point, wherein the feature point set is provided with feature point set information consisting of an orientation vector between the feature points and an orientation angle, wherein the orientation angle indicates an angle formed between the orientation of each feature point and the orientation vector.