Method for estimating positioning of moving object by using big cell grid map, recording medium in which program for implementing same is stored, and computer program stored in medium in order to implement same

Abstract

Embodiments are proposed, including: a method for estimating the posture of a moving object by using a big cell grid map; a recording medium in which a program for implementing the method is stored; and the computer program stored in the medium to implement the method. More particularly, there are provided the embodiments including: a method for estimating the posture of a moving object by using a big cell grid map, the method dividing a map into a plurality of finite cells, and estimating and correcting the posture of a moving robot in the map (the big cell grid map) where map feature point information about a map feature point corresponding to a position of a corresponding cell is matched for each cell; a recording medium where a program for implementing the method is stored, and the computer program stored in the medium to implement the method.