Method for extracting coordinates of landmark of mobile robot with a single camera

A method for extracting coordinates of a landmark of a mobile robot with a single camera is provided to reduce costs by detecting three-dimensional coordinates of the landmark using the single camera without an expensive range sensor. A method for extracting coordinates of a landmark of a mobile robot with a single camera includes the steps of: acquiring an angle made by a robot coordinate system and the x-axis of a global coordinate system, and a vector from the origin of the robot coordinate system to the position the position where the landmark is projected on the image plane of the camera, in the position of the robot before moving; acquiring the angle made by the robot coordinate system and an x-axis of a global coordinate system, and a vector from the origin of a robot coordinate system to the position where the landmark is projected on the image plane of the camera in the position of the robot after moving; acquiring a rotation matrix changing the robot coordinate system before moving into the robot coordinate system after moving, and a vector from the origin of the robot coordinate system after moving to the origin of the robot coordinate system before moving; and acquiring a vector from the origin of the robot coordinate system after moving to the landmark on the space using the vectors and the rotation matrix acquired in each step.