Method and apparatus for simultaneous localization and mapping of robot

Abstract

A SLAM of a robot is provided. The position of a robot and the position of feature data may be estimated by acquiring an image of the robot’s surroundings, extracting feature data from the image, and matching the extracted feature data With registered feature data. Furthermore, measurement update is performed in a camera coordinate system and an appropriate assumption is added upon coordinate conversion, thereby reducing non-linear components and thus improving the SLAM performance.