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Shape Recognition of Metallic Landmark and its Application to Self-Position Estimation for Mobile Robot

Hajime Fujii, Yoshinobu Ando, Takashi Yoshimi,
and Makoto Mizukawa

Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan

Received: May 12, 2010

Accepted: October 20, 2010

Keywords: metallic sensor, proximity switch, landmark, manhole cover, autonomous mobile robot

Journal ref: Journal of Robotics and Mechatronics, Vol.22, No.6 pp. 718-725, 2010


This paper proposes a method of improving selfposition estimation accuracy with metallic landmarks for mobile robots. Many methods of the past selfposition estimation researches have used GPS, laserrange scanners, and CCD cameras, but have been unable to obtain landmark information correctly due to environmental factors. Metallic landmarks are useful in environments where conventional sensors do not work well. Self-position estimation accuracy is thus increased by combining metallic landmark information with that from other equipment.
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