Abstract
This paper reports our activity in mobility robot special zone of Tsukuba-city. In this special zone, we have developed a 3-dimensional environment map by structure from motion using spherical cameras. This 3-dimensional map is developed for mobile robots navigation and collision avoidance. Next three processes compose the map reconstruction. Firstly, the map reconstruction acquires spherical images. Secondly, a sparse map with image feature points is built by bundle adjustment using the acquired images. Finally, a dense map, which has detail shapes, is reconstructed by a multi-view stereo algorithm from standard images given by converting from spherical images. Through these processes, a 3-dimensional map that has enough details to avoid collision can be obtained.
