Mobile robot relocation using ambient magnetic fields and radio sources

Jung, Jongdae; Lee, Seung‐Mok; Kim, Hangeun; Park, Byeolteo; Myung, Hyun

doi:10.1109/iccas.2013.6704223

Cited by 4 publications

(3 citation statements)

References 3 publications

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“…Geomagnetic fields and radio ranging signals have been used as information sources in order to build landmarks in a SLAM and relocation framework which employs the Rao-Blackwellized particle filter and grid-based landmark construction in [81]. The system was tested in three different test environments, where a robot was driven along given paths performing magnetic SLAM.…”

Section: Terrestrial Magnetic Fieldmentioning

confidence: 99%

Magnetic Field Based Positioning Systems

Carbone¹

2021

Preprint

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<div><div><div><p>This paper has the main purpose to give an introductory survey on the various systems that exploit magnetic fields for positioning. Such systems find applications in those scenarios, both indoors and outdoors, where Global Navigation Satellite Systems (GNSS) are not available or fail to provide information with the needed accuracy. While the main idea of using electromagnetic fields to provide position information dates back to the past century, new application–led research on this topic has emerged in recent years. Results have expanded the application range of Magnetic Positioning (MP) technologies and form now a domain of knowledge that enables realization of positioning systems applicable to indoor and outdoor environments.</p><p>The paper provides the main characteristics of different positioning systems with focus on those solutions that are based on low–frequency magnetic fields. Some background theory is presented and positioning results from the literature are analyzed and compared.</p></div></div></div>

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Section: Terrestrial Magnetic Fieldmentioning

confidence: 99%

Magnetic Field Based Positioning Systems

Carbone¹

2021

Preprint

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“…Some works have attempted to alleviate the first two challenges with a robot (Haverinen & Kemppainen, 2009;Jung, Lee, Kim, Park, & Myung, 2013;Nguyen, 2011). However, the robot does have its own problem of knowing where it exactly is in the building.…”

Section: The Off-line Phase Of Fingerprintingmentioning

confidence: 99%

A performance guaranteed indoor positioning system using conformal prediction and the WiFi signal strength

Nguyen

2017

Journal of Information and Telecommunication

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Indoor navigation provides the positioning service to the indoor users, where the GPS coverage is not available. The challenges for most signal-based indoor positioning systems are the unpredictable signal propagation caused by the complex building interiors, and the dynamic of the environment caused by the peoples' movements. However, most existing systems made no assumption about the quality of their predictions, which is crucial in such noisy indoor environment. To address this challenge, this article proposes a confidence measure to reflect the uncertainty of the positioning prediction. More importantly, the users may control the size of the prediction set by setting the confidence level tailoring to their personal requirement. The proposed approach in this article has been validated in three real office buildings with challenging indoor environments, which indicated that it performed up to 20% more accurate than traditional Naïve Bayes and Weighted K-nearest neighbours (W-KNN) algorithms. ARTICLE HISTORY

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“…The earliest use of the magnetic field for indoor positioning was first seen in robotics navigation. It helps the robot orientate itself by maintaining a correlation to the magnetic North (Jung et al, 2013;Suksakulchai et al, 2000). However, the structure of most buildings greatly distorts the direction of the magnetic field (i.e.…”

Section: Related Workmentioning

confidence: 99%

Dynamic route prediction with the magnetic field strength for indoor positioning

Nguyen

Luo

2017

IJWMC

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WiFi fingerprinting has been a popular approach for indoor positioning in the past decade. However, most existing fingerprint-based systems were designed as an on demand service to guide the user to his wanted destination. This article introduces a novel feature that allows the positioning system to predict in advance which walking route the user may use, and the potential destination. To achieve this goal, a new so-called routine database will be used to maintain the magnetic field strength in the form of the training sequences to represent the walking trajectories. The benefit of the system is that it does not adhere to a certain predicted trajectory. Instead, the system dynamically adjusts the prediction as more data are exposed throughout the user's journey. The proposed system was tested in a real indoor environment to demonstrate that the system did not only successfully estimate the route and the destination, but also improved the single positioning prediction.

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Mobile robot relocation using ambient magnetic fields and radio sources

Cited by 4 publications

References 3 publications

Magnetic Field Based Positioning Systems

Magnetic Field Based Positioning Systems

A performance guaranteed indoor positioning system using conformal prediction and the WiFi signal strength

Dynamic route prediction with the magnetic field strength for indoor positioning

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