Abstract
Many self-location methods for autonomous moving robots need to set landmarks in advance. Some other methods use existent environment landmarks and the environment maps prepared in advance. In this paper, we propose a method that can generate suitable landmarks from surrounding and determine the relative location of pass points of the robot in the environment using the landmarks automatically.
To avoid the mismatching of landmarks between the stereo images, a local color histogram collating and a divisional template matching are used and the location of the robot use a two dimensional histogram which include the calculated results of per three landmarks.
