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Modeling and Interpolation of the Ambient Magnetic Field by Gaussian Processes

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.author Solin, Arno
dc.contributor.author Kok, Manon
dc.contributor.author Wahlstrom, Niklas
dc.contributor.author Schon, Thomas B.
dc.contributor.author Sarkka, Simo
dc.date.accessioned 2019-01-14T09:22:13Z
dc.date.available 2019-01-14T09:22:13Z
dc.date.issued 2018
dc.identifier.citation Solin , A , Kok , M , Wahlstrom , N , Schon , T B & Sarkka , S 2018 , ' Modeling and Interpolation of the Ambient Magnetic Field by Gaussian Processes ' , IEEE Transactions on Robotics , vol. 34 , no. 4 , pp. 1112-1127 . https://doi.org/10.1109/TRO.2018.2830326 en
dc.identifier.issn 1552-3098
dc.identifier.other PURE UUID: 7228dc7e-41fb-49e9-8fb1-769e2f66aa80
dc.identifier.other PURE ITEMURL: https://research.aalto.fi/en/publications/7228dc7e-41fb-49e9-8fb1-769e2f66aa80
dc.identifier.other PURE LINK: http://www.scopus.com/inward/record.url?scp=85048169610&partnerID=8YFLogxK
dc.identifier.other PURE FILEURL: https://research.aalto.fi/files/30807293/SCI_Solin_Kok_Modeling_and_Interpolation_article.pdf
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/35976
dc.description.abstract Anomalies in the ambient magnetic field can be used as features in indoor positioning and navigation. By using Maxwell's equations, we derive and present a Bayesian nonparametric probabilistic modeling approach for interpolation and extrapolation of the magnetic field. We model the magnetic field components jointly by imposing a Gaussian process (GP) prior to the latent scalar potential of the magnetic field. By rewriting the GP model in terms of a Hilbert space representation, we circumvent the computational pitfalls associated with GP modeling and provide a computationally efficient and physically justified modeling tool for the ambient magnetic field. The model allows for sequential updating of the estimate and time-dependent changes in the magnetic field. The model is shown to work well in practice in different applications. We demonstrate mapping of the magnetic field both with an inexpensive Raspberry Pi powered robot and on foot using a standard smartphone. en
dc.format.extent 1112-1127
dc.format.mimetype application/pdf
dc.language.iso en en
dc.relation.ispartofseries IEEE Transactions on Robotics en
dc.relation.ispartofseries Volume 34, issue 4 en
dc.rights openAccess en
dc.title Modeling and Interpolation of the Ambient Magnetic Field by Gaussian Processes en
dc.type A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä fi
dc.description.version Peer reviewed en
dc.contributor.department Professorship Solin A.
dc.contributor.department University of Cambridge
dc.contributor.department Uppsala University
dc.contributor.department Department of Electrical Engineering and Automation
dc.contributor.department Department of Computer Science en
dc.subject.keyword Gaussian process (GP)
dc.subject.keyword Magnetic field
dc.subject.keyword Mapping
dc.subject.keyword Maxwell's equations
dc.subject.keyword Online representation
dc.identifier.urn URN:NBN:fi:aalto-201901141159
dc.identifier.doi 10.1109/TRO.2018.2830326
dc.type.version acceptedVersion

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