Self-localization method used multiple omnidirectional vision system

In this research, we proposed a multiple omnidirectional vision system with three omnidirectional cameras and its calculation method for the measurement of the object position and the self-localization in an autonomous mobile robot. Furthermore, on the identification of the self-position, we tried to improve the accuracy of the measurement by correcting the absolute position based on the measurement error of landmarks in the origin of the absolute coordinate. To confirm the efficiency of our proposed system, we actually performed the measurement experiment.