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In this study, we investigated mobile robot localization, which is necessary for an autonomous mobile robot. Specifically, mobile robot localization was studied using image information obtained from an omnidirectional camera, which is a camera with a 360-degree field of view. A robot learns omnidirectional images using self-organizing maps (SOM), and it generates a Localization Classifier. Thus, we verified effectiveness of the Localization Classifier for mobile robot localization.