CPC G01C 21/3837 (2020.08) [G01S 17/89 (2013.01)] | 15 Claims |
1. A region segmentation apparatus for map decomposition of a robot, the apparatus comprising:
a memory; and
one or more processors coupled to the memory, the one or more processors configured to:
while the apparatus is moving, obtain information in a space and generate a grid map of the space based on the obtained information, wherein the space includes obstacles; and
segment the grid map into a plurality of regions on a basis of a critical line which segments the space, wherein intervals from the obstacles located at a left and a right of the critical line are larger than a predetermined first reference value based on a size of the apparatus.
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