Robust Landmark Matching for Self-localization of Robots from the Multiple Candidates

This paper describes a robust landmark matching method to reduce ambiguity of candidate of landmark. General robot system acquires the candidate of landmark through vision sensor in outdoor environment. Our robot uses the omnidirectional vision system to get all around the view. Thus, the robot obtains more candidates of landmark than the conventional vision system. To obtain the candidates of landmark, robot uses the two types of feature. They are vertical edge and merged region of vertical edges. The former is to extract the vertical line of building, street lamp, etc. The latter is to reduce ambiguity of vertical edge in similar region. It is difficult to match the candidates of landmark...