抄録
In this paper, we describe the method of position estimation of an autonomous mobile robot that uses metallic landmark. Metallic landmark is metals on road including manhole, grating. This method uses metallic sensor to detect metallic landmark. Many technique of the past self-position evaluation has been using GPS, LRF and a camera. However, these methods may be unable to be correctly presumed depending on environment. So, to combining metallic landmark with these methods, the accuracy improvement of the error mitigation of the self-position estimation can be expected. Procedure for using metallic landmark is divided into shape distinction of metal, Judgment of landmark, to applying to self-position estimation.
