MagHT: A Magnetic Hough Transform for Fast Indoor Place Recognition
Iad Abdul Raouf,Vincent Gay-Bellile,Steve Bourgeois,Cyril Joly,Alexis Paljic,Iad Abdul Raouf,Vincent Gay-Bellile,Steve Bourgeois,Cyril Joly,Alexis Paljic
This article proposes a novel indoor magnetic field-based place recognition algorithm that is accurate and fast to compute. For that, we modified the generalized “Hough Transform” to process magnetic data (MagHT). It takes as input a sequence of magnetic measures whose relative positions are recovered by an odometry system and recognizes the places in the magnetic map where they were acquired. It ...
