Sequence-based magnetic loop closures for automated signal surveying

Ubiquitous indoor positioning remains a challenge for academia and industry alike. Techniques based on signal surveys (fingerprint maps) are arguably the most prevalent today, but these rely on time-consuming, complex manual surveys of the signal propagation. Recently progress has been made in semi-automated surveying, where Pedestrian Dead Reckoning (PDR) algorithms are combined with signal measurements using Simultaneous Localisation and Mapping (SLAM) techniques first developed in robotics.