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SUMMARYThis paper relates to studying a roaming robot rotating about a vertical axis while moving horizontally on a flat floor surface, and to a method for estimation of its motion parameters. For estimation of motion parameters this method uses correspondences of five or more direction angles in panoramic images captured from three viewpoints by a roaming robot. In this study, first, motion parameters of a roaming robot were limited to horizontal components of translational and rotational parameters, and then the authors concentrated on direction angles as horizontal components of features. Thus, the difference between the measured direction angles and the directional angles obtained by observation was formulated as the error evaluation function, and parameters were estimated by nonlinear minimization. In addition, numerical and computer graphics-based simulation techniques were used for evaluating accuracy, and the effectiveness of this method was confirmed by tests using real images. This method enables capturing panoramic images by a roaming robot in multiple viewpoints with compensation of the capturing location errors.

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