Indoor SLAM using a foot-mounted IMU and the local magnetic field.
Mostafa OsmanFrida VisetManon KokPublished in: FUSION (2022)
Keyphrases
- magnetic field
- indoor environments
- simultaneous localization and mapping
- mobile robot
- outdoor environments
- electromagnetic fields
- visual slam
- visual odometry
- inertial measurement unit
- working principle
- vision system
- eddy current
- path planning
- monocular camera
- robotic systems
- monocular slam
- absolute position
- kalman filter
- video camera
- mobile robotics
- phase transition
- dynamic environments
- particle filter
- extended kalman filter
- real time
- data association
- permanent magnet
- lower bound