Mag-Array Dataset Explorer

Companion explorer for: "Position and Orientation Estimation Uncertainty Using Magnetometer Arrays for Indoor Localization"

Thomas Edridge and Manon Kok · Delft Center for Systems and Control, TU Delft

IEEE Journal of Indoor and Seamless Positioning and Navigation, vol. 3, pp. 152–164, 2025 · doi:10.1109/JISPIN.2025.3567258 · github · data

Rig: 30 × PNI RM3100 magnetometers (array 0.32 × 0.22 m) · 100 Hz acquisition · OptiTrack ground-truth · … sequences across 3 releases

THREE DATASET RELEASES

[TINY]Tiny squares — 0.4 × 0.4 m

Original experiments from Sections IV-A & IV-B. Three trial variants × 3 repeats: sliding on ground (rich anomalies), hovering (medium), with rotation (step-distance analysis).

[SM]Small / medium squares — 4 × 4 m

Section IV-C long trajectories from the MAINS paper [Huang et al. 2024]: LP-1 (smallSquare, knee 0.5 m) and NP-1 (mediumSquare, hip 0.85 m). Weak anomalies — a stress-test for array-based odometry.

[S25]Summer 2025 — complex environments

Indoor corridors, snake patterns, figure-8, spiral staircases, and larger squares. Recorded for follow-up work — not in the main paper. Provides motion variety and longer trajectories.

Sequence

Trajectory color

time |B| (field magnitude)

|B| colormap range (µT)

auto –

Orientation frames (RGB axes)

off sparse medium dense every step

length: 1.5× width: 4

…

3D POSE TRAJECTORY

MAG FIELD — 30 SENSORS × TIME (µT) drag to zoom · double-click or 🏠 to reset · zoomed range highlights on 3D ↑

MEAN |B| (µT)

IMU |ACC| / |GYR|

BARO HEIGHT (m)

GALLERY · click any thumbnail to load that sequence