本報告では,予めロボット移動に伴い得られた全方位ルートパノラマ画像を記憶しておくことで,ロボットを誘導する方法を提案する.ロボットの自己位置は,一対の動的輪郭モデルにより記憶画像列と入力画像とを対応付けることで求める.Described here is a route navigation method for a mobile robot with an omnidirectional image sensor. The route is memorized by a series of consecutive omnidirectional images at the horizon while the robot moves to the goal position. While the robot is navigating to the goal point, the input is matched with memorized spatio-tempral route patterns image by using dual active contour models and we can estimated the exact robot position