Abstract
In this paper, an advanced localization improving the angle precision of measurement is proposed. The conventional method of tracking floor images to localize mobile robot has a problem that measurement error increases when the radius of rotation is large. The improved method employes two view tracking for precise motion estimation. We describes two methods of two view tracking. One is that using one camera, and the other using two cameras. In the method using one camera, two regions for image tracking are allocated in a camera image. The experimental results show that the angle error of measurement on large radius is significantly decreased. The proposed methods have an advantage to the conventional one because the calculation costs of those methods are the same.
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