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Communication Dans Un Congrès Année : 2022

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

Résumé

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.
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Dates et versions

cea-04320481 , version 1 (04-12-2023)

Identifiants

Citer

Jade Coulin, Richard Guillemard, Vincent Gay-Bellile, Cyril Joly, Arnaud de La Fortelle. Online Magnetometer Calibration in Indoor Environments for Magnetic field-based SLAM. 2022 IEEE 12th International Conference on Indoor Positioning and Indoor Navigation (IPIN), Sep 2022, Beijing, China. pp.1-8, ⟨10.1109/IPIN54987.2022.9917514⟩. ⟨cea-04320481⟩
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