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

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  • 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

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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.

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