Abstract
In this paper, we propose a method of judging status of light without previous light position data. Our system makes list of light bulbs registered position and status of their while running with detecting light bulbs, estimating position of their composed with 3D-model of surrounding environment. When robot patrol and check light bulbs, comparing camera image and list's data and renewing light bulb list with estimating process. Experiments performed accuracy and effectiveness of the proposed method in indoor environment.
