A global self-localization technique utilizing local anomalies of the ambient magnetic field

Haverinen, Janne; Kemppainen, Anssi

doi:10.1109/robot.2009.5152885

Cited by 56 publications

(37 citation statements)

References 20 publications

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“…Haverinen and Kemppainen [9] used a very similar approach -equipping a robot with a single magnetic sensor that measured in all three planes. They ran their robot through a corridor and had it collect data at set locations to create a map of the hallway.…”

Section: Related Workmentioning

confidence: 99%

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Indoor location sensing using geo-magnetism

Chung

Donahoe

Schmandt

et al. 2011

Proceedings of the 9th International Conference on Mobile Systems, Applications, and Services

376

236

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We present an indoor positioning system that measures location using disturbances of the Earth's magnetic field caused by structural steel elements in a building. The presence of these large steel members warps the geomagnetic field in a way that is spatially varying but temporally stable. To localize, we measure the magnetic field using an array of e-compasses and compare the measurement with a previously obtained magnetic map. We demonstrate accuracy within 1 meter 88% of the time in experiments in two buildings and across multiple floors within the buildings. We discuss several constraint techniques that can maintain accuracy as the sample space increases.

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Section: Related Workmentioning

confidence: 99%

“…Although previous work has explored using magnetic field measurements as a positioning tool, their methods rely on odometry sensors or constrained movement models [8,9,10,11]. We will discuss the differences between our approach and previous magnetic field-based tools in more detail in the related work section.…”

Section: Introductionmentioning

confidence: 99%

Indoor location sensing using geo-magnetism

Chung

Donahoe

Schmandt

et al. 2011

Proceedings of the 9th International Conference on Mobile Systems, Applications, and Services

376

236

View full text Add to dashboard Cite

show abstract

“…Geomagnetic field anomalies are used for localization and navigation of both robots and smartphones. In [40], the authors leverage observations of the ambient magnetic field for indoor localization, but they can handle only simple straight pathways. Glanzer et al [41] introduced a pedestrian navigation system with human motion recognition, although a pre-established magnetic field map is equipped to correct the severe disturbance of indoor direction sensing.…”

Section: Related Workmentioning

confidence: 99%

Last-Mile Navigation Using Smartphones

Shu

Shin

et al. 2015

Proceedings of the 21st Annual International Conference on Mobile Computing and Networking

154

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Although GPS has become a standard component of smartphones, providing accurate navigation during the last portion of a trip remains an important but unsolved problem. Despite extensive research on localization, the limited resolution of a map imposes restrictions on the navigation engine in both indoor and outdoor environments. To bridge the gap between the end position obtained from legacy navigation services and the real destination, we propose FOLLOWME, a "last-mile" navigation system to enable plugand-play navigation in indoor and semi-outdoor environments. FOLLOWME exploits the ubiquitous, stable geomagnetic field and natural walking patterns to navigate the users to the same destination taken by an earlier traveler. Unlike existing localization and navigation systems, FOLLOWME is infrastructure-free, energyefficient and cost-saving. We implemented FOLLOWME on smartphones, and evaluated it in a four-story campus building with a testing area of 2000m 2 . Our experimental results with 5 users show that 95% of spatial errors during navigation were 2m or less with at least 50% energy savings over a benchmark system.

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“…Bio-inspired positioning based on local magnetic signatures has been proposed in [11]. In the current paper this is extended to the problem of detection of the return path.…”

Section: Introductionmentioning

confidence: 99%

Automatic characterization of ambulatory patterns of utilitarian and leisure trips

Härmä¹,

Groot²

2017

2017 25th European Signal Processing Conference (EUSIPCO)

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Abstract-In the health self-management services it is beneficial to identify and address the already existing healthy activity patterns of the user. Some of these healthy activity patterns might be of a utilitarian nature, e.g. commuting to work by bike or on foot, or might be for leisure, like taking a walk in a park. In this paper we discuss one possibility to detect the utilitarian or leisure nature of a particular ambulatory path based on the geometry of the trajectory. In essence, a leisure trip is more commonly a round-trip while an utilitarian A-to-B trips follow the single shortest path between A and B. We define a generic measure for the characterization of utilitarian and leisure paths based on GPS location data and develop an algorithm for approaching the same based on only magnetometer data from a wearable device.

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A global self-localization technique utilizing local anomalies of the ambient magnetic field

Cited by 56 publications

References 20 publications

Indoor location sensing using geo-magnetism

Indoor location sensing using geo-magnetism

Last-Mile Navigation Using Smartphones

Automatic characterization of ambulatory patterns of utilitarian and leisure trips

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