A Loop-Closure Detection Method Based on Localization Using Residual Magnetism

DOI Web Site Web Site 12 References

Bibliographic Information

Other Title
  • 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
  • ザンリュウ ジバ オ モチイタ ジコ イチ スイテイホウ ニ モトズク ループ ケンチホウ

Search this article

Abstract

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.

Journal

References(12)*help

See more

Keywords

Details 詳細情報について

Report a problem

Back to top