Mobile robot system for composition of seamless and high resolution images

Seamless and high resolution images that copy a room is expected to be used for many applications (e.g. a guard system, amusement, remote control, and so forth). We are developing a mobile robot system for obtaining such images automatically. This system utilizes single kind of line marker, which is adhesive tape and is attached horizontally by a user beforehand. A mobile robot goes round a room and builds map. The map is used to collect images of above part of each marker. It means that the mobile robot does not need to know prior information of the room. Therefor, the underlying problems in this paper are localization and exploration by a mobile robot without prior information of the environment.