US Patent 9304001 Position recognition methods of autonomous mobile robots

In some example embodiments, a position recognition method of an autonomous mobile robot may include: dividing a grid map into a plurality of spaces; extracting, by a processor, learning data of each of the plurality of spaces; generating, by the processor, space models of each of the plurality of spaces using the extracted learning data; and/or recognizing, by the processor, a current position of the autonomous mobile robot based on the extracted learning data, the space models, and actual range scan data input through the autonomous mobile robot.