NDLI: Robotic mapping assisted by local magnetic field anomalies

Content Provider	IEEE Xplore Digital Library
Author	Haiyang Zhang Martin, F.
Copyright Year	2011
Description	Author affiliation: Computer Science Department, University of Massachusetts Lowell, Lowell, MA 01854, USA (Haiyang Zhang; Martin, F.)
Abstract	This paper presents a method to incorporate measurement of local magnetic field anomalies into the SLAM (Simultaneous Localization And Mapping) algorithm. One of the key problems of SLAM is loop closure, which means to map the same place into the same location on the generated map when the place is revisited by the robot. It is particularly important for large area map consistency. Steel structures, furniture and equipment inside a building disturb the natural magnetic field of the earth. These local anomalies of magnetic field are usually considered as noise when using an electronic compass on a robot. But, in this paper, we utilize these data to help solving the SLAM loop closure problem, since the magnetic anomaly patterns are different across a given building and stay relatively stable over time. We used particle filter as the basic algorithm for SLAM. In the weight calculation step of the particle filter algorithm, it assigns a weight value to each particle based on its matching score to the current sensor data. This step allows us to incorporate different sensor data from both laser range finder, and magnetometer into SLAM process. To verify the effectiveness of this method, we have done experiments involving a robot runs through a building hallway. At some point, it is hijacked to an unknown place in the same hallway, and continues to run. The SLAM assisted by local magnetic field anomaly data has generated more consistent maps than those without the assistance.
Starting Page	25
Ending Page	30
File Size	490631
Page Count	6
File Format	PDF
ISBN	9781612844824
e-ISBN	9781612844817
DOI	10.1109/TEPRA.2011.5753476
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-04-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	localization Simultaneous localization and mapping magnetic field Magnetometers anomaly SLAM Magnetic separation robotic mapping Particle filters
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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