Abstract
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.
| Original language | English |
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| Title of host publication | Proceedings of the 23rd IEEE International Conference on Mobile Data Management (MDM 2022) |
| Publisher | IEEE |
| Pages | 385-387 |
| ISBN (Electronic) | 978-1-6654-5176-5 |
| DOIs | |
| Publication status | Published - 2022 |
| Event | MDM 2022: 23rd IEEE International Conference on Mobile Data Management (Virtual) - Duration: 6 Jun 2022 → 9 Jun 2022 |
Conference
| Conference | MDM 2022: 23rd IEEE International Conference on Mobile Data Management (Virtual) |
|---|---|
| Period | 6/06/22 → 9/06/22 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise 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.
Keywords
- Indoor localization
- magnetic field
- SLAM
- Inertial sensors in vehicle motion estimation and control