DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Han, Dongsoo | - |
dc.contributor.advisor | 한동수 | - |
dc.contributor.author | Lee, Sangjae | - |
dc.date.accessioned | 2022-04-21T19:34:33Z | - |
dc.date.available | 2022-04-21T19:34:33Z | - |
dc.date.issued | 2021 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=956449&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/295748 | - |
dc.description | 학위논문(박사) - 한국과학기술원 : 전산학부, 2021.2,[vii, 45 p. :] | - |
dc.description.abstract | In the smartphone, geomagnetic fields have been emerging as ideal measurements for the sensor fusion of positioning due to their energy-efficient, consistency. Depending on detailed feature handling methods, their consistent properties show a discriminant feature in heading directions with high sensitivity. In this dissertation, we propose a new geomagnetic localization scheme, named ILoA, to address error accumulation and global localization. Global localization is a fundamental problem that determines the initial pose under global uncertainty. Moreover, error accumulation using inertial navigation systems (INS) impacts robustness and drift error, making it challenging to achieve reliable estimation. The magnetic field in indoor space generates a unique signature/anomaly, which can be used as a local feature. Earth’s magnetic field can be easily influenced by ferromagnetic material from the indoor environment due to its weak intensity. The magnetic field vector measured by a magnetometer depends on the orientation of the sensor, which we term a direction variant. We devise a novel approach to identify the location and heading through the direction-variant augmented vector. Since a magnetic field vector under varying poses can produce many different vectors, the geomagnetic map is trained with the transformation. We present experiments in two testbeds, covering open space, showing that the proposed method using the magnetic field vector is efficient for global localization and accuracy compared with a state-of-the-art approach. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | indoor positioning▼ainertial sensor▼amagnetic field▼asensor fusion▼amobile computing | - |
dc.subject | 실내 측위▼a관성 센서▼a지자기▼a다중센서융합▼a모바일 컴퓨팅 | - |
dc.title | High precision indoor positioning using geomagnetic anomaly | - |
dc.title.alternative | 지자기 이상 특성을 이용한 고정밀 실내 측위 기술 | - |
dc.type | Thesis(Ph.D) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :전산학부, | - |
dc.contributor.alternativeauthor | 이상재 | - |
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