Indoor SLAM using a foot-mounted IMU and the local magnetic field

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....

A Framework for Indoor Localization Using the Magnetic Field

In this work, our focus is on indoor localization using the indoor magnetic field as a source of position information. This relies on the fact that ferromagnetic materials inside buildings cause the magnetic field to vary spatially. We jointly estimate the pose of a combined sensor module (containing a magnetometer) as well as the magnetic field...