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Magnetic Maps of Indoor Environments for Precise Localization of Legged and Non-legged Locomotion

Frassl, Martin and Angermann, Michael and Lichtenstern, Michael and Robertson, Patrick and Julian, Brian J. and Doniec, Marek (2013) Magnetic Maps of Indoor Environments for Precise Localization of Legged and Non-legged Locomotion. In: IEEE RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013, 3.-8. Nov. 2013, Tokyo, Japan.

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Abstract

The magnetic field in indoor environments is rich in features and exceptionally easy to sense. In conjunction with any form of odometry, such as wheel- or IMUbased, a map of this field can be used to precisely localize a human or robot in indoor environments. We show how the use of this field yields significant improvements in terms of accuracy and computational complexity for both legged and wheel-based locomotion. We suggest various likelihood functions for sequential Monte Carlo algorithms for localization and evaluate their performance based on magnetic maps of several environments. Specifically, we investigate the influence of intensity and vector-based representations as well as map resolution on localization accuracy, robustness and complexity. Compared to other localization approaches, such as camera or LIDAR-based, far less privacy concerns exist for the magnetic field. Furthermore, the required sensors are less costly, have a lower raw data rate, yet appear comparably informative for localization purposes. This combination of technical and privacy-related advantages renders localization of humans and robots based on the magnetic field a very viable solution to indoor navigation.

Item URL in elib:https://elib.dlr.de/83461/
Document Type:Conference or Workshop Item (Speech)
Title:Magnetic Maps of Indoor Environments for Precise Localization of Legged and Non-legged Locomotion
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Frassl, Martinmartin.frassl (at) dlr.deUNSPECIFIED
Angermann, Michaelmichael.angermann (at) dlr.deUNSPECIFIED
Lichtenstern, Michaelm.lichtenstern (at) dlr.deUNSPECIFIED
Robertson, Patrickpatrick.robertson (at) dlr.deUNSPECIFIED
Julian, Brian J.bjulian (at) csail.mit.eduUNSPECIFIED
Doniec, Marekdoniec (at) mit.eduUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:indoor localization, sensor fusion, autonomous robotics
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:3.-8. Nov. 2013
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Verläßliche Navigation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Frassl, Martin
Deposited On:25 Nov 2013 11:42
Last Modified:31 Jul 2019 19:41

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