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An autonomous robot and a mobile robot are expected to provide various services within the human living environment. But there are many problems to solve in trying to develop autonomous robots that can work like humans. Therefore, the environment for robot activity assumed in this study was a finite space such as a family room, an office, or a hospital room. So, accurate position estimation is important to the robot in achieving a success. Thus we have developed a navigation system that detects whether the robot is driving accurately using only a CCD camera in a room and a corridor. This paper describes that this systems are implemented and experimented with our developed robot.