Magnetic Navigation Using Attitude-Invariant Magnetic Field Information for Loop Closure Detection
Natalia Pavlasek,Charles Champagne Cossette,David Roy-Guay,James Richard Forbes,Natalia Pavlasek,Charles Champagne Cossette,David Roy-Guay,James Richard Forbes
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromag-netic objects, such as steel structural components in buildings. As a result of these disruptions, pervasive in indoor spaces, mag-netic field data is often omitted from navigation algorithms in indoor environments. This paper leverages the spatially-varying disruptions to Earth's magnetic field ...
