With the rapid development of robotics, robots have become increasingly familiar and closely connected to everyday life. Recognizing the surrounding environment is an essential task for robots to perform work. Omnidirectional cameras are inexpensive, can capture images over 360 degrees, provide a large amount of information, and can acquire measurements with a single shot. For these reasons, we designed a stereo measurement system in which conventional cameras are replaced with omnidirectional cameras. However, binocular omnidirectional stereo has problems such as reduced accuracy along the epipolar-line direction and blind spots. To address these issues, we perform stereo measurement using a new configuration that adds a third omnidirectional camera.

GPS may not function correctly in places where radio waves do not reach or where they are reflected, making it difficult for a robot to estimate its position accurately. Therefore, we use an omnidirectional camera, which can capture a wide area, to detect doors in the surrounding space. The camera position is then estimated by comparing the detected information with a pre-prepared two-dimensional map that includes object height information.