Multiple Omnidirectional Vision System and Its Self-Localization Experiment

We have already developed the multiple omnidirectional vision system (MOVIS) with three omnidirectional cameras for the autonomous mobile robot. Its calculation method for the measurement of object position and the self-localization is proposed in this paper. On the identification of self-position, we use the landmarks in the absolute coordinate and different calculation method in X axis and Y axis. Furthermore, we performed some experiments to confirm the efficiency of the proposed method by using a soccer robot on the miniature soccer field and also report these results in this paper.