NDLI: Magnetic field-based SLAM method for solving the localization problem in mobile robot floor-cleaning task

Content Provider	IEEE Xplore Digital Library
Author	Vallivaara, I. Haverinen, J. Kemppainen, A. Roning, J.
Copyright Year	2011
Description	Author affiliation: Computer Science and Engineering Laboratory, University of Oulu, Finland (Vallivaara, I.; Haverinen, J.; Kemppainen, A.; Roning, J.)
Abstract	In this paper we present a SLAM method based on indoor magnetic field anomalies and measure the acquired map quality in the context of the localization problem present in mobile robot floor-cleaning scenarios. According to our real-world robot experiments in different environments, it appears that most modern buildings have sufficient magnetic field variation to make the method applicable in mobile robot floor-cleaning tasks. We show that our method can be used to acquire maps that are accurate enough to be utilized in the robot coverage problem, thus reducing over-cleaning. We use Gaussian Processes to model the magnetic field and a Rao-Blackwellized Particle Filter to estimate the pose distribution of the robot. Because magnetic field anomalies are not correlated to typical features used in localization, our method can handle many situations in which other methods fail. The minimalistic sensory requirements of our method make it a very viable alternative for low-cost domestic robots.
Starting Page	198
Ending Page	203
File Size	1118444
Page Count	6
File Format	PDF
ISBN	9781457711589
e-ISBN	9781457711596
DOI	10.1109/ICAR.2011.6088632
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-20
Publisher Place	Estonia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Simultaneous localization and mapping Magnetic resonance imaging Measurement uncertainty
Content Type	Text
Resource Type	Article

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