残留磁場を用いた自己位置推定法に基づくループ検知法

抄録

This paper proposes a novel loop-closure detection method based on localization using residual magnetism. Although the method uses only a magnetic sensor as external sensor, accurate loop-closure detection can be performed. This is because that precisely distinguishing of magnetic pattern is realized by using normalized cross-correlation. In addition, the method has usefulness that loop-closure detection is executed so fast. The effectiveness and usefulness of the method are shown through experiments.