Online Magnetometer Calibration in Indoor Environments for Magnetic field-based SLAM

Jade Coulin, Richard Guillemard, Vincent Gay-Bellile, Cyril Joly, Arnaud de La Fortelle

Abstract: This paper proposes a new process for calibrating a magnetometer in indoor environments that is accurate, easily deployable and time efficient. Our approach simultaneously estimates the calibration of the magnetometer with the local variations of the magnetic field modeled by a Gaussian Process. To guarantee an accurate estimation of the magnetometer calibration, a two-step optimization algorithm is proposed. Experiments show that the proposed solution is as accurate as outdoor calibration algorithms, and more precise than state-of-the-art indoor calibration methods.