William McDonald — accepted AI-conference papers

2025

Mag-Match: Magnetic Vector Field Features for Map Matching and Registration

William McDonald, Cedric Le Gentil, Jennifer Wakulicz, Teresa A. Vidal-Calleja

IROS 2025

Map matching and registration are essential tasks in robotics for localisation and integration of multi-session or multi-robot data. Traditional methods rely on cameras or LiDARs to capture visual or geometric information but struggle in challenging conditions like smoke or dust. Magnetometers, on t

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2023

Global Localisation in Continuous Magnetic Vector Fields Using Gaussian Processes

William McDonald, Cedric Le Gentil, Teresa A. Vidal-Calleja

ICASSP 2023accepted

Localisation is one of the key capabilities for autonomous robots with sensors. Magnetic sensors to perceive the environment, although less explored, are an alternative modality to aid localisation. This paper proposes the use of continuous vector fields provided by a Gaussian Process (GP) with a di…

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