Article

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

Authors:

Janne Haverinen,

Anssi KemppainenAuthors Info & Claims

ICRA'09: Proceedings of the 2009 IEEE international conference on Robotics and Automation

Pages 4459 - 4464

Published: 12 May 2009 Publication History

Abstract

Magnetic field fluctuations in modern buildings arise from both natural and man-made sources, such as steel and reinforced concrete structures, electric power systems, electric and electronic appliances, and industrial devices. If the anomalies of the magnetic field inside the building are nearly static and they have sufficient local variability, they provide a unique magnetic fingerprint that can be utilized in global self-localization. In this article, a Monte Carlo Localization (MCL) technique based on this hypothesis is proposed. The feasibility of the technique is demonstrated by presenting a series of global localization experiments conducted in four arbitrarily selected buildings, including a hospital. The experiment setup consists of a mobile robot instrumented with a 3-axis magnetometer and a computer. In addition, successful human self-localization experiments were conducted by using a wireless wearable magnetometer. The reported experiments suggest that the ambient magnetic field may remain sufficiently stable for longer periods of time, giving support for self-localization techniques utilizing the local deviations of the field.

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Cited By

Zhou XChen TGuo DTeng XYuan B(2018)From one to crowdFrontiers of Computer Science: Selected Publications from Chinese Universities10.1007/s11704-017-6520-z12:3(423-450)Online publication date: 1-Jun-2018
https://dl.acm.org/doi/10.1007/s11704-017-6520-z
Fan XWu JLong CZhu Y(2017)Accurate and Low-cost Mobile Indoor Localization with 2-D Magnetic FingerprintsProceedings of the First ACM Workshop on Mobile Crowdsensing Systems and Applications10.1145/3139243.3139244(13-18)Online publication date: 6-Nov-2017
https://dl.acm.org/doi/10.1145/3139243.3139244
Shu YShin KHe TChen JFdida SPau GKasera SZheng H(2015)Last-Mile Navigation Using SmartphonesProceedings of the 21st Annual International Conference on Mobile Computing and Networking10.1145/2789168.2790099(512-524)Online publication date: 7-Sep-2015
https://dl.acm.org/doi/10.1145/2789168.2790099
Show More Cited By

A global self-localization technique utilizing local anomalies of the ambient magnetic field
1. Applied computing
  1. Physical sciences and engineering

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cover image Guide Proceedings

ICRA'09: Proceedings of the 2009 IEEE international conference on Robotics and Automation

May 2009

4472 pages

ISBN:9781424427888

Publisher

IEEE Press

Publication History

Published: 12 May 2009

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Cited By

Zhou XChen TGuo DTeng XYuan B(2018)From one to crowdFrontiers of Computer Science: Selected Publications from Chinese Universities10.1007/s11704-017-6520-z12:3(423-450)Online publication date: 1-Jun-2018
https://dl.acm.org/doi/10.1007/s11704-017-6520-z
Fan XWu JLong CZhu Y(2017)Accurate and Low-cost Mobile Indoor Localization with 2-D Magnetic FingerprintsProceedings of the First ACM Workshop on Mobile Crowdsensing Systems and Applications10.1145/3139243.3139244(13-18)Online publication date: 6-Nov-2017
https://dl.acm.org/doi/10.1145/3139243.3139244
Shu YShin KHe TChen JFdida SPau GKasera SZheng H(2015)Last-Mile Navigation Using SmartphonesProceedings of the 21st Annual International Conference on Mobile Computing and Networking10.1145/2789168.2790099(512-524)Online publication date: 7-Sep-2015
https://dl.acm.org/doi/10.1145/2789168.2790099
Chung JDonahoe MSchmandt CKim IRazavai PWiseman MAgrawala ACorner MWetherall D(2011)Indoor location sensing using geo-magnetismProceedings of the 9th international conference on Mobile systems, applications, and services10.1145/1999995.2000010(141-154)Online publication date: 28-Jun-2011
https://dl.acm.org/doi/10.1145/1999995.2000010

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