Detection of Indoor Mobile Robots Using Objective Sensor without Markers

In recent years, robots are getting opportunity that work in human life space. In order to avoid accidents, robots need environment information correctly as much as possible. However, it is difficult to recognize environment only using sensors equipped on robots. To solve this problem, one of promising approaches is using objective viewpoint sensors equipped on environment. In this paper, we focused on the object detection using objective viewpoint sensors. We propose a method to detect mobile robots and to estimate their positions without marker. Our method is robust for changes of view point by using 3D depth sensor as an objective view point sensor.