Robots which play important roles such as social welfare and services in the home and office are required for the aging society. These robots need a location system which can be adapted in the home environment. Therefore, in this paper, we develop a location system based on comparing of 3D surrounding model with input images of a camera. In this system, corner features such as corners of doors or furnitures, are extracted from inputted images of a camera by ORB. A position and a posture of the camera are estimated by matching these corner features and those of 3D surrounding model. Then, the estimation of the position and the posture is continued by tracing these features using FREAK. The location system can estimate the position and the posture of the camera in a case that the camera is rotated on the optical axis. Furthermore, a mobile robot system which is used the proposed location system is constructed. Using the mobile robot system, traveling experiments are performed. As a result, the mobile robot system could follow the reference path based on the estimated position and posture of the camera, when the camera was rotated on the optical axis.Thus, an effectiveness of the developed location system is demonstrated.
