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 Pro-
cess. To guarantee an accurate estimation of the magnetome-
ter 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.