{"id":"https://openalex.org/W2077552673","doi":"https://doi.org/10.1109/iros.2013.6696459","title":"Magnetic maps of indoor environments for precise localization of legged and non-legged locomotion","display_name":"Magnetic maps of indoor environments for precise localization of legged and non-legged locomotion","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2077552673","doi":"https://doi.org/10.1109/iros.2013.6696459","mag":"2077552673"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696459","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696459","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047945493","display_name":"Martin Frassl","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Frassl","raw_affiliation_strings":["Institute of Communications and Navigation of the German Aerospace Center (DLR), Wessling, Germany","Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation of the German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058061818","display_name":"Michael Angermann","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Angermann","raw_affiliation_strings":["Institute of Communications and Navigation of the German Aerospace Center (DLR), Wessling, Germany","Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation of the German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059383118","display_name":"Michael Lichtenstern","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Lichtenstern","raw_affiliation_strings":["Institute of Communications and Navigation of the German Aerospace Center (DLR), Wessling, Germany","Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation of the German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070393745","display_name":"Patrick Robertson","orcid":"https://orcid.org/0000-0002-6544-7570"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Robertson","raw_affiliation_strings":["Institute of Communications and Navigation of the German Aerospace Center (DLR), Wessling, Germany","Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation of the German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016850202","display_name":"Brian J. Julian","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I4210122954","display_name":"MIT Lincoln Laboratory","ror":"https://ror.org/022z6jk58","country_code":"US","type":"facility","lineage":["https://openalex.org/I4210122954","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian J. Julian","raw_affiliation_strings":["MIT Lincoln Laboratory, Lexington, MA, USA","[Comput. Sci. & Artificial Intell. Lab., MIT, Cambridge, MA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT Lincoln Laboratory, Lexington, MA, USA","institution_ids":["https://openalex.org/I4210122954"]},{"raw_affiliation_string":"[Comput. Sci. & Artificial Intell. Lab., MIT, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090799801","display_name":"Marek Doniec","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marek Doniec","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, MIT, Cambridge, MA, USA","[Comput. Sci. & Artificial Intell. Lab., MIT, Cambridge, MA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, MIT, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"[Comput. Sci. & Artificial Intell. Lab., MIT, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I1343180700"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":107,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"913","last_page":"920"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9726999998092651,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8481239676475525},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8053419589996338},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7471317648887634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6501402258872986},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6395522356033325},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6031301617622375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.596422553062439},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48089101910591125},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4715466797351837},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.4434874355792999},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4357343316078186},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3655995726585388},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3624172508716583}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8481239676475525},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8053419589996338},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7471317648887634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6501402258872986},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6395522356033325},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6031301617622375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.596422553062439},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48089101910591125},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4715466797351837},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.4434874355792999},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4357343316078186},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3655995726585388},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3624172508716583},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696459","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696459","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:83461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696459>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6499999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W265467607","https://openalex.org/W1556694669","https://openalex.org/W1972602454","https://openalex.org/W1973546417","https://openalex.org/W1975230295","https://openalex.org/W1986864914","https://openalex.org/W2000535285","https://openalex.org/W2001164479","https://openalex.org/W2005717879","https://openalex.org/W2008247673","https://openalex.org/W2011301426","https://openalex.org/W2034587361","https://openalex.org/W2051036170","https://openalex.org/W2056427752","https://openalex.org/W2090820607","https://openalex.org/W2093319033","https://openalex.org/W2094998617","https://openalex.org/W2097088077","https://openalex.org/W2107557285","https://openalex.org/W2118429180","https://openalex.org/W2120693140","https://openalex.org/W2122305929","https://openalex.org/W2125356896","https://openalex.org/W2134210795","https://openalex.org/W2137279681","https://openalex.org/W2138671676","https://openalex.org/W2139053308","https://openalex.org/W2148820580","https://openalex.org/W2149675336","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2160337655","https://openalex.org/W2901136733","https://openalex.org/W3147253688","https://openalex.org/W3147330112","https://openalex.org/W6644135095","https://openalex.org/W6673004454","https://openalex.org/W6682324061","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2417091022","https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W2738165626","https://openalex.org/W2899548746"],"abstract_inverted_index":{"The":[0,155],"magnetic":[1,90,135,167],"field":[2,37,59,168],"in":[3,8,48,63],"indoor":[4,50,133,174],"environments":[5],"is":[6],"rich":[7],"features":[9],"and":[10,71,84,106,114,145,152,159,179],"exceptionally":[11],"easy":[12],"to":[13,41,117,173],"sense.":[14],"In":[15],"conjunction":[16],"with":[17],"a":[18,33,44,147,169],"suitable":[19],"form":[20],"of":[21,35,57,65,92,157,165],"odometry,":[22],"such":[23],"as":[24],"signals":[25],"produced":[26],"from":[27],"inertial":[28],"sensors":[29,140],"or":[30,46],"wheel":[31],"encoders,":[32],"map":[34,107],"this":[36,58],"can":[38],"be":[39],"used":[40],"precisely":[42],"localize":[43],"human":[45],"robot":[47],"an":[49],"environment.":[51],"We":[52,74],"show":[53],"how":[54],"the":[55,98,132,138,163,166],"use":[56,164],"yields":[60],"significant":[61],"improvements":[62],"terms":[64],"localization":[66,83,111,119],"accuracy":[67],"for":[68,79,176],"both":[69,177],"legged":[70],"non-legged":[72],"locomotion.":[73],"suggest":[75],"various":[76],"likelihood":[77],"functions":[78],"sequential":[80],"Monte":[81],"Carlo":[82],"evaluate":[85],"their":[86],"performance":[87],"based":[88],"on":[89,110],"maps":[91],"different":[93],"resolutions.":[94],"Specifically,":[95],"we":[96],"investigate":[97],"influence":[99],"that":[100],"measurement":[101],"representation":[102],"(e.g.,":[103,121],"intensity-based,":[104],"vector-based)":[105],"resolution":[108],"have":[109,146],"accuracy,":[112],"robustness,":[113],"complexity.":[115],"Compared":[116],"other":[118],"approaches":[120],"camera-based,":[122],"LIDAR-based),":[123],"there":[124],"exist":[125],"far":[126],"fever":[127],"privacy":[128],"concerns":[129],"when":[130],"sensing":[131],"environment's":[134],"field.":[136],"Furthermore,":[137],"required":[139],"are":[141],"less":[142],"costly,":[143],"compact,":[144],"lower":[148],"raw":[149],"data":[150],"rate":[151],"power":[153],"consumption.":[154],"combination":[156],"technical":[158],"privacy-related":[160],"advantages":[161],"makes":[162],"very":[170],"viable":[171],"solution":[172],"navigation":[175],"humans":[178],"robots.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}