Loosely and tightly coupled inertial magnetic SLAM systems using only low-cost IMU, magnetometers, and barometer achieve meter-scale errors per 100 m traveled in real indoor tests.
A compar- ative analysis of LiDAR SLAM-based indoor navigation for autonomous vehicles,
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Inertial Magnetic SLAM Systems Using Low-Cost Sensors
Loosely and tightly coupled inertial magnetic SLAM systems using only low-cost IMU, magnetometers, and barometer achieve meter-scale errors per 100 m traveled in real indoor tests.