Publication
Title
Feasibility of geomagnetic localization and geomagnetic RatSLAM
Author
Abstract
The need for accurate indoor localization increases as we get used to accessible outdoor localization, and the number of applications depending on localization grows. Indoor localization is challenging because of frequent line of sight obstructions and dynamic changes in the environment. Magnetometers can be found in many modern electronic devices and provide a simple way to measure the geomagnetic field intensity. Due to distortions in this magnetic field, these measurements often provide enough information to enable identification of a location using pattern matching. We show the feasibility of using these magnetic field intensity measurements in localization and SLAM applications. Our SLAM system of choice is the biologically inspired RatSLAM, as it allows pattern matching as scene recognition. We demonstrate a number of experiments in various environments, including a suburban house and a university lab. We conclude that geomagnetic localization and SLAM are feasible in environments with many distortions in the magnetic field. Such locations are easier to identify than locations with little distortions, which will have the same pattern of magnetic field over larger areas. KeywordsIndoor localization;
Language
English
Source (journal)
International journal on advances in systems and measurements
Publication
2014
Volume/pages
7:1-2(2014), p. 44-56
Full text (open access)
UAntwerpen
Faculty/Department
Research group
Publication type
Subject
Affiliation
Publications with a UAntwerp address
External links
Record
Identification
Creation 20.08.2014
Last edited 11.12.2015
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