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. 2022 Apr 7;22(8):2833. doi: 10.3390/s22082833

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© 2022 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).

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Trajectory and magnetic field map estimate for the foot-mounted sensor data. The estimated trajectory obtained with Algorithm 1 is compared to odometry from the foot-mounted sensor data obtained via [40] implementation of the ZUPT-aided EKF using a foot-mounted accelerometer and gyroscope. The color of the magnetic field map corresponds to the norm of the estimated magnetic field, and the opacity is inversely proportional with the sum of the marginal variance for each of the three estimated magnetic field components. (a) Learned magnetic field displayed with the semi-transparent color map and estimated trajectory displayed with the black line with odometry from foot-mounted sensor from a birds eye view. (b) Trajectory estimate from Algorithm 1 compared to odometry from a birds eye view.