Print Email Facebook Twitter Indoor SLAM using a foot-mounted IMU and the local magnetic field Title Indoor SLAM using a foot-mounted IMU and the local magnetic field Author Osman, M.E.A. (TU Delft Team Manon Kok) Viset, F.M. (TU Delft Team Manon Kok) Kok, M. (TU Delft Team Manon Kok) Date 2022 Abstract In this paper, a simultaneous localization and mapping algorithm for tracking the motion of a pedestrian with a foot-mounted inertial measurement unit is proposed. The algorithm uses two maps, namely, a motion map and a magnetic field map. The motion map captures typical motion patterns of pedestrians in buildings that are constrained by e.g. corridors and doors. The magnetic map models local magnetic field anomalies in the environment using a Gaussian process model and uses them as position information. These maps are used in a Rao-Blackwellized particle filter to correct the pedestrian position and orientation estimates from the pedestrian dead-reckoning. The pedestrian dead-reckoning is computed using an extended Kalman filter with zero-velocity updates. The algorithm is validated using experimental sequences and the results show the efficacy of the algorithm in localizing pedestrians in indoor environments. Subject Inertial sensors, magnetic field anomaliesindoor localizationRao-Blackwellized particle filterSLAM To reference this document use: http://resolver.tudelft.nl/uuid:0fcf46bc-2449-4f49-b9c2-11830280ef14 DOI https://doi.org/10.23919/FUSION49751.2022.9841252 Publisher IEEE Embargo date 2023-02-09 ISBN 978-1-7377-4972-1 Source Proceedings of the 25th International Conference on Information Fusion (FUSION 2022) Event 25th International Conference on Information Fusion, FUSION 2022, 2022-07-04 → 2022-07-07, Linköping, Sweden 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 © 2022 M.E.A. Osman, F.M. Viset, M. Kok Files PDF Indoor_SLAM_using_a_foot_ ... _field.pdf 7.08 MB Close viewer /islandora/object/uuid:0fcf46bc-2449-4f49-b9c2-11830280ef14/datastream/OBJ/view