抄録
This paper propose a view-based topological map generation method for leg type mobile robots. To generate a map, a mobile robot needs to estimate its position and moving direction in the environment. We propose a localization method based on Support Vector Machine and a motion estimation method based on optical flow. So that a leg type mobile robot can estimate both simultaneously from a image sequence. Estimation results are integrated to generate a topological map of the environment. In this paper, we evaluate the proposed method with image sequence acquired in real environment.
