In this work, our focus is on indoor localization using the indoor magnetic field as a source of position information. This relies on the fact that ferromagnetic materials inside buildings cause the magnetic field to vary spatially. We jointly estimate the pose of a combined sensor module (containing a magnetometer) as well as the magnetic field map. We show that our previously developed algorithm for magnetic field-based simultaneous localization and mapping can be adapted and extended into a general framework where a multitude of measurements can be included. We exemplify this using a foot-mounted inertial measurement unit where we additionally assume the availability of range measurements.
|Title of host publication||Proceedings of the 23rd IEEE International Conference on Mobile Data Management (MDM 2022)|
|Publication status||Published - 2022|
|Event||MDM 2022: 23rd IEEE International Conference on Mobile Data Management (Virtual) - |
Duration: 6 Jun 2022 → 9 Jun 2022
|Conference||MDM 2022: 23rd IEEE International Conference on Mobile Data Management (Virtual)|
|Period||6/06/22 → 9/06/22|
Bibliographical noteGreen Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
- Indoor localization
- magnetic field
- Inertial sensors in vehicle motion estimation and control