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Three-dimensional map is available for autonomous robot navigation (path planning, selflocalization and object recognition). In unknown environment, robots should measure environments and construct their maps by themselves. Three-dimensional measurement using image data makes it possible to construct an environment map (Davison, 2003). However, many environmental images are needed if we use a conventional camera having a limited field of view (Ishiguro et al., 1992). Then, an omnidirectional camera is available for wide-ranging measurement, because it has a panoramic field of view (Fig. 1). Many researchers showed that an omnidirectional camera is effective in measurement and recognition in environment (Bunschoten & Krose, 2003; Geyer & Daniilidis, 2003; Gluckman & Nayar, 1998).

Three-Dimensional Environment Modeling Based on Structure from Motion with Point and Line Features by Using Omnidirectional Camera