elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Simultaneous Localization and Mapping for Pedestrians using Distortions of the Local Magnetic Field Intensity in Large Indoor Environments

Robertson, Patrick and Frassl, Martin and Angermann, Michael and Doniec, Marek and Julian, Brian and Garcia Puyol, Maria and Khider, Mohammed and Lichtenstern, Michael and Bruno, Luigi (2013) Simultaneous Localization and Mapping for Pedestrians using Distortions of the Local Magnetic Field Intensity in Large Indoor Environments. IEEE. 2013 International Conference on Indoor Positioning and Indoor Navigation (IPIN 2013), 28-31 Oct 2013, Montbeliard, France.

Full text not available from this repository.

Abstract

We present a Simultaneous Localization and Mapping (SLAM) algorithm based on measurements of the ambient magnetic field strength (MagSLAM) that allows quasi-real-time mapping and localization in buildings, where pedestrians with foot-mounted sensors are the subjects to be localized. We assume two components to be present: firstly a source of odometry (human step measurements), and secondly a sensor of the local magnetic field intensity. Our implementation follows the FastSLAM factorization using a particle filter. We augment the hexagonal transition map used in the pre-existing FootSLAM algorithm with local maps of the magnetic field strength, binned in a hierarchical hexagonal structure. We performed extensive experiments in a number of different buildings and present the results for five data sets for which we have ground truth location information. We consider the results obtained using MagSLAM to be strong evidence that scalable and accurate localization is possible without an a priori map.

Item URL in elib:https://elib.dlr.de/84870/
Document Type:Conference or Workshop Item (Speech)
Title:Simultaneous Localization and Mapping for Pedestrians using Distortions of the Local Magnetic Field Intensity in Large Indoor Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Robertson, PatrickUNSPECIFIEDUNSPECIFIED
Frassl, MartinUNSPECIFIEDUNSPECIFIED
Angermann, MichaelUNSPECIFIEDUNSPECIFIED
Doniec, Marekdoniec (at) mit.eduUNSPECIFIED
Julian, Brianbjulian (at) mit.eduUNSPECIFIED
Garcia Puyol, MariaUNSPECIFIEDUNSPECIFIED
Khider, MohammedUNSPECIFIEDUNSPECIFIED
Lichtenstern, MichaelUNSPECIFIEDUNSPECIFIED
Bruno, LuigiUNSPECIFIEDUNSPECIFIED
Date:November 2013
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:IEEE
Status:Published
Keywords:Magnetic Navigation ; Simultaneous Localization and Mapping ; SLAM ; FootSLAM ; Indoor Pedestrian Navigation
Event Title:2013 International Conference on Indoor Positioning and Indoor Navigation (IPIN 2013)
Event Location:Montbeliard, France
Event Type:international Conference
Event Dates:28-31 Oct 2013
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 - Vorhaben GNSS2/Neue Dienste und Produkte (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Robertson, Dr.-Ing. Patrick
Deposited On:28 Nov 2013 11:35
Last Modified:08 May 2014 23:29

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.