@article {9,
	title = {Magnetic Maps for Indoor Navigation},
	journal = {IEEE Transactions on Instrumentation and Measurement},
	volume = {60},
	year = {2011},
	pages = {3883 - 3891},
	abstract = {<p>Magnetic field fluctuations and anomalies inside buildings tend to have a great effect on the compass, which is one of the simplest navigation devices. Alternative navigation requires landmark identification, so those landmarks can be used as guideposts in assisting individuals. By employing a mobile phone with built\_in magnetometer, an extensive data set of 2000 measurements was collected. Using these fields, we identify landmarks and guideposts and create magnetic maps for multiple corridors of a floor in a building. Different phones are used at different sensitivity rates, which effectively portray similar results. Magnetic signatures are used for identifying locations and rooms and are independent of the person, the phone, and the sensitivity of the sensor being used. Magnetic field behavior is demonstrated and compared with theoretical distributions of these fields. The developed magnetic maps can complement existing visual maps for location tracking and navigation of autonomous robots indoors. These maps are particularly useful during limited visual feedback in poor lighting conditions. Moreover, building designers could include this landmark and guidepost information when developing the architecture of a building, which could in turn help people or robots navigate during disasters and emergency evacuations.</p>
},
	keywords = {Buildings, Magnetic field measurement, Magnetic field measurements, Magnetic fields, Magnetometers, Mobile handsets, mobile phones, Navigation, sensors, Uncertainty},
	doi = {10.1109/TIM.2011.2147690},
	author = {Gozick, Brandon and Subbu, Kalyan and Ram Dantu and Maeshiro, Tomyo}
}
