Online Magnetometer Calibration in Indoor Environments for Magnetic field-based SLAM

被引：3

作者：

Coulin, Jade ^{[1
,2
]}

Guillemard, Richard ^{[1
]}

Gay-Bellile, Vincent ^{[1
]}

Joly, Cyril ^{[2
]}

De la Fortelle, Arnaud ^{[2
]}

机构：

[1] Univ Paris Saclay, CEA, List, F-91120 Palaiseau, France

[2] PSL Univ, MINES ParisTech, Ctr Robot, 60 Bd St Michel, F-75006 Paris, France

来源：

2022 IEEE 12TH INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION (IPIN 2022) | 2022年

关键词：

Magnetometer; calibration; non-linear optimization;

D O I：

10.1109/IPIN54987.2022.9917514

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes a new process for calibrating a magnetometer in indoor environments that is accurate, easily deployable and time efficient. Our approach simultaneously estimates the calibration of the magnetometer with the local variations of the magnetic field modeled by a Gaussian Process. To guarantee an accurate estimation of the magnetometer calibration, a two-step optimization algorithm is proposed. Experiments show that the proposed solution is as accurate as outdoor calibration algorithms, and more precise than state-of-the-art indoor calibration methods.

引用

页数：8

共 16 条

[1]

[Anonymous], 2021, 9522020 IEEE, P1

[2] ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial, and Multimap SLAM [J].