2024/08/14 by Junseo Kim, Matthew Lisondra, Kim, Junseo +5 · 1 citation
Engineering · Earth and Planetary Sciences · #3D Modeling in Geospatial Applications #Robotics and Sensor-Based Localization #3D Surveying and Cultural Heritage
paper · pdf · doi:10.48550/arxiv.2408.07757
In recent years, the increased availability of WiFi in indoor environments has gained interest in the robotics community to utilize WiFi signals for indoor simultaneous localization and mapping algorithms. This paper discusses the challenges of achieving high-accuracy geometric map building using WiFi signals. The paper introduces the concept of inverse k-visibility, developed from the k-visibility algorithm, to identify free space in an unknown environment, used for planning, navigation, and obstacle avoidance. Comprehensive experiments, including those utilizing single and multiple RSSI signals, were conducted in both simulated and real-world environments to demonstrate the robustness of the proposed algorithm. Additionally, a detailed analysis comparing the resulting maps with ground-truth LiDAR-based maps is provided to highlight the algorithm's accuracy and reliability.