Self-localization from the panoramic views for autonomous mobile robots

This paper describes a self-localization method for the mobile robot using panoramic view images. A panoramic view image has the information of location of the objects from the viewer robot and direction between the objects at a position. Among the sequence of panoramic view images, the target objects in the image like traffic signs, facade of a building, road signs, etc. locate in the real world so that robot´s position and direction deliver to localize from his view. With the previously captured panoramic images, the method calculates the distance and direction of the region of interest, corresponds the regions between the sequences, and identifies the location in the world. To obtain the region, vertical edge line segments