A Tightly Coupled Magnetic-Inertial SLAM System for Field Robots
Overview
This research introduces MISLAM, a tightly coupled magnetic-inertial simultaneous localization and mapping system designed for field robots operating in GNSS-denied environments such as mines, tunnels, and disaster areas.
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Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · horizontal closure error: 0.332 other · Basis not reported
“on using an error-state Kalman filter. Offline evaluation on three indoor datasets collected with a handheld rig shows reductions in total endpoint closure error of 45.7% - 78.0% relative to magnetic-inertial odometry. Under poor illumination, MISLAM maintains tracking after visual-inertial odometry fails, achieving a horizontal closure error of 0.332 m, although vertical drift remains a limitation. These results sup”
Exact source · revision 1Source owner not reported
Dataset · tasks: localization
“arXiv:2611.03106v1 Announce Type: new Abstract: Field robots operating in mines, tunnels, and disaster areas require reliable localization despite GNSS denial and degraded camera and LiDAR measurements caused by dust, smoke, or poor illumination. Missions involving both ground and aerial robots further motivate complementary sensing modalities that do not depend on visibility, preinstalled infrastructure, or wheel co”
Exact source · revision 1Source owner not reported
Dataset · embodiments: field robots
“arXiv:2611.03106v1 Announce Type: new Abstract: Field robots operating in mines, tunnels, and disaster areas require reliable localization despite GNSS denial and degraded camera and LiDAR measurements caused by dust, smoke, or poor illumination. Missions involving both ground and aerial robots further motivate complementary sensing modalities that do not depend on visibility, preinstalled infrastructure, or wheel co”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalA Tightly Coupled Magnetic-Inertial SLAM System for Field Robots
This research introduces MISLAM, a tightly coupled magnetic-inertial simultaneous localization and mapping system designed for field robots operating in GNSS-denied environments such as mines, tunnels, and disaster areas.
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