Omni-vision system using an omni-mirror is popular to acquire environment information around an autonomous mobile robot. In RoboCup soccer middle size robot league in particular, self-localization methods based on white line extraction on the soccer field are popular. We have studied a self-localization method based on image features, for example, SIFT and SURF, so far. Comparative studies with a conventional self-localization method based on white line extraction are conducted. Compared to the self-localization method based on white line extraction, the method based on image feature can be applied to a general environment with a compact database.

In human robot interaction, intuitive interface is necessary. A specific interaction device, for instance, a joystick or a teaching pendant, is not usually intuitive and needs trainings for a general user. Instruction by gesture is one of the intuitive interfaces and a potential user does not need any training for showing a gesture. Pointing is one of the simplest gestures. Hibino et. al.[1] proposed a simple human pointing recognition system for a mobile robot that has an upward directed camera and recognizes human pointing and navigate itself to the place a user is pointing by simple visual feedback control. This paper shows improvement of the method and investigates the validity and usefulness of the proposed method with questionnaire investigations with the proposed and conventional user interfaces.

Human-robot interaction requires intuitive interface that is not possible using devices, such as, the joystick or teaching pendant, which also require some trainings. Instruction by gesture is one example of an intuitive interfaces requiring no training, and pointing is one of the simplest gestures. We propose simple pointing recognition for a mobile robot having an upwarddirected camera system. The robot using this recognizes pointing and navigates through simple visual feedback control to where the user points. This paper explores the feasibility and utility of our proposal as shown by the results of a questionnaire on proposed and conventional interfaces.