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Map information is important for self localization and path planning when mobile robots accomplish autonomous tasks. We use 3D environment model containing color data and structure data of the environment. We propose a method for vision-based navigation of a mobile robot by using a 3D environment model. Our proposed method is composed of self localization and path planning. The robot estimates its position and orientation by matching an omni-directional image of the environment to arbitrary viewpoint images generated from a 3D environment model. The robot plans its path by using a potential method. Experimental results showed the effectiveness of the proposed method.

2P1-E17 Vision-based Navigation of Mobile Robot with Omni-directional Camera by Using Arbitrary Viewpoint Images Generated from 3D Environment Model