Print Email Facebook Twitter Magnetic field norm SLAM using Gaussian process regression in foot-mounted sensors Title Magnetic field norm SLAM using Gaussian process regression in foot-mounted sensors Author Viset, F.M. (TU Delft Team Manon Kok) Gravdahl, Jan Tommy (Norwegian University of Science and Technology (NTNU)) Kok, M. (TU Delft Team Manon Kok) Date 2021 Abstract We propose an application of magnetic field norm simultaneous localisation and mapping to measurements from a foot-mounted sensor for pedestrian navigation. The algorithm is, to the best of the authors’ knowledge, the first three dimensional drift-compensating indoor navigation method using only accelerometer, gyroscope and magnetometer measurements that does not rely on assumptions about the spatial structure of the indoor environment. We use a Rao-Blackwellized particle filter to simultaneously and recursively estimate the magnetic field norm map using reduced rank Gaussian process regression, and the position and orientation of the sensor. Our experiments demonstrate that our algorithm results in a drift-free position estimate using measurements collected from a foot-mounted sensor while walking around inside a hallway. To reference this document use: http://resolver.tudelft.nl/uuid:40e3ef18-2af8-4d46-97a8-f019aa01fd2e DOI https://doi.org/10.23919/ECC54610.2021.9655230 Publisher IEEE Embargo date 2022-07-03 ISBN 978-1-6654-7945-5 Source Proceedings of the European Control Conference (ECC 2021) Event 2021 European Control Conference (ECC), 2021-06-29 → 2021-07-02, Virtual , Netherlands 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-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. Part of collection Institutional Repository Document type conference paper Rights © 2021 F.M. Viset, Jan Tommy Gravdahl, M. Kok Files PDF Magnetic_field_norm_SLAM_ ... ensors.pdf 1.76 MB Close viewer /islandora/object/uuid:40e3ef18-2af8-4d46-97a8-f019aa01fd2e/datastream/OBJ/view