Indoor Navigation Based on Ceiling Images -Automatic Mosaic Method for Building Ceiling Maps-

摘要

The view in indoor environment normally changes dynamically due to the influence of sunshine coming from windows and the existence of persons moving around. To overcome such a problem, we have developed a view-based navigation method which utilizes ceiling images. The robot localize its position based on the matching between a previously built map and a current view. However it was hard to manually build a map from many ceiling images. In this paper, we propose a novel mosaic method to build a ceiling map automatically. Experimental results of map building are given to show the feasibility of the method.