IMag: Accurate and Rapidly Deployable Inertial Magneto-Inductive Localisation

Bo Wei, Niki Trigoni, Andrew Markham

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

Localisation is of importance for many applications. Our motivating scenarios are short-term construction work and emergency rescue. Not only is accuracy necessary, these scenarios also require rapid setup and robustness to environmental conditions. These requirements preclude the use of many traditional methods e.g. vision-based, laser-based, Ultra-wide band (UWB) and Global Positioning System (GPS)-based localisation systems. To solve these challenges, we introduce iMag, an accurate and rapidly deployable inertial magneto-inductive (MI) localisation system. It localises monitored workers using a single MI transmitter and inertial measurement units with minimal setup effort. However, MI location estimates can be distorted and ambiguous. To solve this problem, we suggest a novel method to use MI devices for sensing environmental distortions, and use these to correctly close inertial loops. By applying robust simultaneous localisation and mapping (SLAM), our proposed localisation method achieves excellent tracking accuracy, and can improve performance significantly compared with only using an inertial measurement unit (IMU) and MI device for localisation.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages99-106
Number of pages8
ISBN (Electronic)9781538630815
DOIs
Publication statusPublished - 13 Sep 2018
Event2018 IEEE International Conference on Robotics and Automation - Brisbane, Australia
Duration: 21 May 201825 May 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2018
CountryAustralia
CityBrisbane
Period21/05/1825/05/18

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  • Cite this

    Wei, B., Trigoni, N., & Markham, A. (2018). IMag: Accurate and Rapidly Deployable Inertial Magneto-Inductive Localisation. In 2018 IEEE International Conference on Robotics and Automation (pp. 99-106). [8460804] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460804