| abstract |
The present invention relates to a SLAM (Simultaneous Localization And Mapping) method robust to a wireless environment change, and more particularly to a method and an apparatus for estimating a relative position of a mobile node based on motion detection of a mobile node, The relative position of the mobile node is corrected based on a comparison between the pattern and the signal intensity distribution in the region where the mobile node is located, and the path of the region is expressed using the thus corrected relative position, Even if the wireless environment is poor, such as a change in the radio environment such as an increase in the number of points, a failure or an obstacle, or a lack of the number of access points, the mobile node is estimated accurately, Can be created. |