Adding image information corresponding to the shape of the objects' surfaces on environmental maps

In this paper we propose adding image information to a map in order to create an intuitive interface for exploring unknown environments. On this map, a high-resolution photo is attached to each mapped object. The shooting angle and position for the picture is defined by the required resolution of the image, the camera specifications and the object's shape. The appearance from the desired direction can be confirmed intuitively by referring to the Shooting Vector of the object. To make the proposed map, high quality image information should be acquired on the Shooting Vector. We develop a tool for making the map, and confirm its effectiveness by experiments.