Loading…
Saying goodbyes to rotating your phone: Magnetometer calibration during SLAM
While Wi-Fi positioning is still more common indoors, using magnetic field features has become widely known and utilized as an alternative or supporting source of information. Magnetometer bias presents significant challenge in magnetic field navigation and SLAM. Traditionally, magnetometers have be...
Saved in:
Main Authors: | , , |
---|---|
Format: | Conference Proceeding |
Language: | English |
Subjects: | |
Online Access: | Request full text |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
cited_by | |
---|---|
cites | |
container_end_page | 7 |
container_issue | |
container_start_page | 1 |
container_title | |
container_volume | |
creator | Vallivaara, Ilari Dong, Yinhuan Arslan, Tughrul |
description | While Wi-Fi positioning is still more common indoors, using magnetic field features has become widely known and utilized as an alternative or supporting source of information. Magnetometer bias presents significant challenge in magnetic field navigation and SLAM. Traditionally, magnetometers have been calibrated using standard sphere or ellipsoid fitting methods and by requiring manual user procedures, such as rotating a smartphone in a figure-eight shape. This is not always feasible, particularly when the magnetometer is attached to heavy or fast-moving platforms, or when user behavior cannot be reliably controlled. Recent research has proposed using map data for calibration during positioning. This paper takes a step further and verifies that a pre-collected map is not needed; instead, calibration can be done as part of a SLAM process. The presented solution uses a factorized particle filter that factors out calibration in addition to the magnetic field map. The method is validated using smartphone data from a shopping mall and mobile robotics data from an office environment. Results support the claim that magnetometer calibration can be achieved during SLAM with comparable accuracy to manual calibration. Furthermore, the method seems to slightly improve manual calibration when used on top of it, suggesting potential for integrating various calibration approaches. |
doi_str_mv | 10.1109/IPIN62893.2024.10786161 |
format | conference_proceeding |
fullrecord | <record><control><sourceid>ieee_CHZPO</sourceid><recordid>TN_cdi_ieee_primary_10786161</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>10786161</ieee_id><sourcerecordid>10786161</sourcerecordid><originalsourceid>FETCH-ieee_primary_107861613</originalsourceid><addsrcrecordid>eNqFzsEOwUAUBdAhkRD6BxLzA-q9aU07diKEpETCwq6Z8lSFjkzHon-PhLXVTe49i8vYAMFHBDVabVcbKWIV-AJE6CNEsUSJDeapSMXBGAIpQxBN1hFhhEOF0aHNvKq6AsDboYS4w5Kdrosy57kxp6ymijvDrXHafcraPC1_XExJE77WeUnO3MmR5Ud9KzL7Rqbkp6f92F0yXfdY66xvFXnf7LL-Yr6fLYcFEaUPW9y1rdPf0eDP_ALLZEGZ</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Saying goodbyes to rotating your phone: Magnetometer calibration during SLAM</title><source>IEEE Xplore All Conference Series</source><creator>Vallivaara, Ilari ; Dong, Yinhuan ; Arslan, Tughrul</creator><creatorcontrib>Vallivaara, Ilari ; Dong, Yinhuan ; Arslan, Tughrul</creatorcontrib><description>While Wi-Fi positioning is still more common indoors, using magnetic field features has become widely known and utilized as an alternative or supporting source of information. Magnetometer bias presents significant challenge in magnetic field navigation and SLAM. Traditionally, magnetometers have been calibrated using standard sphere or ellipsoid fitting methods and by requiring manual user procedures, such as rotating a smartphone in a figure-eight shape. This is not always feasible, particularly when the magnetometer is attached to heavy or fast-moving platforms, or when user behavior cannot be reliably controlled. Recent research has proposed using map data for calibration during positioning. This paper takes a step further and verifies that a pre-collected map is not needed; instead, calibration can be done as part of a SLAM process. The presented solution uses a factorized particle filter that factors out calibration in addition to the magnetic field map. The method is validated using smartphone data from a shopping mall and mobile robotics data from an office environment. Results support the claim that magnetometer calibration can be achieved during SLAM with comparable accuracy to manual calibration. Furthermore, the method seems to slightly improve manual calibration when used on top of it, suggesting potential for integrating various calibration approaches.</description><identifier>EISSN: 2471-917X</identifier><identifier>EISBN: 9798350366402</identifier><identifier>DOI: 10.1109/IPIN62893.2024.10786161</identifier><language>eng</language><publisher>IEEE</publisher><subject>Calibration ; indoor positioning ; magnetometer ; Magnetometers ; Manuals ; mobile robotics ; Particle filters ; Reliability ; Robots ; Shape ; Simultaneous localization and mapping ; SLAM ; Wireless fidelity</subject><ispartof>International Conference on Indoor Positioning and Indoor Navigation, 2024, p.1-7</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/10786161$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,27925,54555,54932</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/10786161$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Vallivaara, Ilari</creatorcontrib><creatorcontrib>Dong, Yinhuan</creatorcontrib><creatorcontrib>Arslan, Tughrul</creatorcontrib><title>Saying goodbyes to rotating your phone: Magnetometer calibration during SLAM</title><title>International Conference on Indoor Positioning and Indoor Navigation</title><addtitle>IPIN</addtitle><description>While Wi-Fi positioning is still more common indoors, using magnetic field features has become widely known and utilized as an alternative or supporting source of information. Magnetometer bias presents significant challenge in magnetic field navigation and SLAM. Traditionally, magnetometers have been calibrated using standard sphere or ellipsoid fitting methods and by requiring manual user procedures, such as rotating a smartphone in a figure-eight shape. This is not always feasible, particularly when the magnetometer is attached to heavy or fast-moving platforms, or when user behavior cannot be reliably controlled. Recent research has proposed using map data for calibration during positioning. This paper takes a step further and verifies that a pre-collected map is not needed; instead, calibration can be done as part of a SLAM process. The presented solution uses a factorized particle filter that factors out calibration in addition to the magnetic field map. The method is validated using smartphone data from a shopping mall and mobile robotics data from an office environment. Results support the claim that magnetometer calibration can be achieved during SLAM with comparable accuracy to manual calibration. Furthermore, the method seems to slightly improve manual calibration when used on top of it, suggesting potential for integrating various calibration approaches.</description><subject>Calibration</subject><subject>indoor positioning</subject><subject>magnetometer</subject><subject>Magnetometers</subject><subject>Manuals</subject><subject>mobile robotics</subject><subject>Particle filters</subject><subject>Reliability</subject><subject>Robots</subject><subject>Shape</subject><subject>Simultaneous localization and mapping</subject><subject>SLAM</subject><subject>Wireless fidelity</subject><issn>2471-917X</issn><isbn>9798350366402</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2024</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNqFzsEOwUAUBdAhkRD6BxLzA-q9aU07diKEpETCwq6Z8lSFjkzHon-PhLXVTe49i8vYAMFHBDVabVcbKWIV-AJE6CNEsUSJDeapSMXBGAIpQxBN1hFhhEOF0aHNvKq6AsDboYS4w5Kdrosy57kxp6ymijvDrXHafcraPC1_XExJE77WeUnO3MmR5Ud9KzL7Rqbkp6f92F0yXfdY66xvFXnf7LL-Yr6fLYcFEaUPW9y1rdPf0eDP_ALLZEGZ</recordid><startdate>20241014</startdate><enddate>20241014</enddate><creator>Vallivaara, Ilari</creator><creator>Dong, Yinhuan</creator><creator>Arslan, Tughrul</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>20241014</creationdate><title>Saying goodbyes to rotating your phone: Magnetometer calibration during SLAM</title><author>Vallivaara, Ilari ; Dong, Yinhuan ; Arslan, Tughrul</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-ieee_primary_107861613</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2024</creationdate><topic>Calibration</topic><topic>indoor positioning</topic><topic>magnetometer</topic><topic>Magnetometers</topic><topic>Manuals</topic><topic>mobile robotics</topic><topic>Particle filters</topic><topic>Reliability</topic><topic>Robots</topic><topic>Shape</topic><topic>Simultaneous localization and mapping</topic><topic>SLAM</topic><topic>Wireless fidelity</topic><toplevel>online_resources</toplevel><creatorcontrib>Vallivaara, Ilari</creatorcontrib><creatorcontrib>Dong, Yinhuan</creatorcontrib><creatorcontrib>Arslan, Tughrul</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library Online</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Vallivaara, Ilari</au><au>Dong, Yinhuan</au><au>Arslan, Tughrul</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Saying goodbyes to rotating your phone: Magnetometer calibration during SLAM</atitle><btitle>International Conference on Indoor Positioning and Indoor Navigation</btitle><stitle>IPIN</stitle><date>2024-10-14</date><risdate>2024</risdate><spage>1</spage><epage>7</epage><pages>1-7</pages><eissn>2471-917X</eissn><eisbn>9798350366402</eisbn><abstract>While Wi-Fi positioning is still more common indoors, using magnetic field features has become widely known and utilized as an alternative or supporting source of information. Magnetometer bias presents significant challenge in magnetic field navigation and SLAM. Traditionally, magnetometers have been calibrated using standard sphere or ellipsoid fitting methods and by requiring manual user procedures, such as rotating a smartphone in a figure-eight shape. This is not always feasible, particularly when the magnetometer is attached to heavy or fast-moving platforms, or when user behavior cannot be reliably controlled. Recent research has proposed using map data for calibration during positioning. This paper takes a step further and verifies that a pre-collected map is not needed; instead, calibration can be done as part of a SLAM process. The presented solution uses a factorized particle filter that factors out calibration in addition to the magnetic field map. The method is validated using smartphone data from a shopping mall and mobile robotics data from an office environment. Results support the claim that magnetometer calibration can be achieved during SLAM with comparable accuracy to manual calibration. Furthermore, the method seems to slightly improve manual calibration when used on top of it, suggesting potential for integrating various calibration approaches.</abstract><pub>IEEE</pub><doi>10.1109/IPIN62893.2024.10786161</doi></addata></record> |
fulltext | fulltext_linktorsrc |
identifier | EISSN: 2471-917X |
ispartof | International Conference on Indoor Positioning and Indoor Navigation, 2024, p.1-7 |
issn | 2471-917X |
language | eng |
recordid | cdi_ieee_primary_10786161 |
source | IEEE Xplore All Conference Series |
subjects | Calibration indoor positioning magnetometer Magnetometers Manuals mobile robotics Particle filters Reliability Robots Shape Simultaneous localization and mapping SLAM Wireless fidelity |
title | Saying goodbyes to rotating your phone: Magnetometer calibration during SLAM |
url | http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-25T17%3A54%3A22IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_CHZPO&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Saying%20goodbyes%20to%20rotating%20your%20phone:%20Magnetometer%20calibration%20during%20SLAM&rft.btitle=International%20Conference%20on%20Indoor%20Positioning%20and%20Indoor%20Navigation&rft.au=Vallivaara,%20Ilari&rft.date=2024-10-14&rft.spage=1&rft.epage=7&rft.pages=1-7&rft.eissn=2471-917X&rft_id=info:doi/10.1109/IPIN62893.2024.10786161&rft.eisbn=9798350366402&rft_dat=%3Cieee_CHZPO%3E10786161%3C/ieee_CHZPO%3E%3Cgrp_id%3Ecdi_FETCH-ieee_primary_107861613%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=10786161&rfr_iscdi=true |