Abstract
This paper proposes an autonomous mobile robot expected to realize an intelligent robot that supports a human life. The proposed mobile robot has three main functions; self-position estimation, road region estimation, and route planning. Self-position estimation is performed by comparing local features obtained from the frontal images captured by the robot to a knowledge base. In road region estimation, the frontal image is separated into several regions to find the region where the robot can move. Furthermore, the route to the destination is planned by graph search. Experimental results show satisfactory performance of the proposed mobile robot.
https://ror.org/02278tr80 
