We are studying a walker navigation system for visual impaired people. It need to estimate pedestrian’s location by similar image retrieval. The retrieval database is built from pre-recorded video along the path. Image retrieval using local image feature does not work well when the images were taken in different environments with respect to time and weather. In this paper, we especially deal with the change of sunlight condition due to its recorded time. We propose new method of robust location estimation based on our database witch built by combining videos under different environments.