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Jonas Callmer: Research

The references [J#], [C#], and [T#] below refer to the list of publications.

Interests

Jonas Callmer's main research interest is sensor fusion, primarily navigation problems. Currently, his main focus is on the indoor navigation problem for professional users such as police officers or fire fighters.


For the indoor navigation problem, Jonas Callmer has focused on further improving the dead reckoning system based on a foot mounted IMU. These systems have the problem of drift in heading, causing the position estimates to drift off, see [T2,J2]. The solution that Jonas Callmer has been focused at, is to incorporate the magnetometer in the IMU as support for the heading estimation problem. To complicate things, magnetic signals are often heavily disturbed indoors so the focus has been on robustly estimating the heading, despite severe magnetic disturbances that come and go, see papers [J4,C7]. Lately, the work has been on fusing the dead reckoning with the heading estimation. Promising results have been obtained where the error in heading is significantly reduced and thereby also the error in position. A journal paper on this is currently being written.


Further, other navigation problems have been studied. One was on naval dead reckoning navigation using radar scans only, [J3]. The primary idea was to treat the radar scans as images and match landmarks from scan to scan using visual feature extractors. With these, the vessel trajectory could be estimated quite well in long experiments. In [J1], underwater sensors were positioned using magnetic sensors that track a friendly vessel with a known magnetic signature.


In [C3], a new take on robot navigation was presented. The fundamental thesis was that performing simultaneous localization and mapping (SLAM) is unnecessary if there already are maps of the area available. In this day and age, there most often is. In this work, navigation of a UAV was supported by a downwards facing camera that took images of the ground. The images were classified into roads, houses and trees and were matched against a map of the current area. Thereby a global support for the navigation system could be introduced.


Jonas Callmer

Doctoral student in Automatic Control

(Swedish: Doktorand i reglerteknik)

Phone:
+46 13 28 40 58
Mobile (private):
+46 70 496 83 94
E-mail:
callmer_at_isy.liu.se
Address:
Dept. of Electrical Engineering
Linköping University
SE-581 83 Linköping
Sweden
Visiting Address:
Campus Valla
Building B
Room 2A:541 (in the A corridor on the ground floor between entrance 25 and 27)


Page responsible: Jonas Callmer
Last updated: 2013-03-06