Simultaneous location and mapping method using supersonic wave sensor and vision sensor

A method for SLAM(Simultaneous Localization And Mapping) of a mobile robot based on an ultrasonic sensor and a vision sensor is provided to offer an SLAM algorithm for using a visual object recognized by the vision sensor and feature obtained by processing data of the ultrasonic sensor at the same time. A feature recognition method using the ultrasonic sensor recognizes a point feature and a line feature at the same time by processing the data obtained from the ultrasonic sensor. An object recognition method using the vision sensor uses an MSHC(Multi-Scale Harris Corner) feature extracting method. The feature is extracted by using a down sampling mode. Feature vector representing video information around each feature is calculated by using SIFT(Scale Invariant Feature Transformation).