Biologically inspired SLAM using Wi-Fi
Berkvens, Rafael, Jacobson, Adam, Milford, Michael, Peremans, Herbert, & Weyn, Maarten (2014) Biologically inspired SLAM using Wi-Fi. In Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), IEEE, Chicago, IL, pp. 1804-1811.
Wi-Fi is a commonly available source of localization information in urban environments but is challenging to integrate into conventional mapping architectures. Current state of the art probabilistic Wi-Fi SLAM algorithms are limited by spatial resolution and an inability to remove the accumulation of rotational error, inherent limitations of the Wi-Fi architecture. In this paper we leverage the low quality sensory requirements and coarse metric properties of RatSLAM to localize using Wi-Fi fingerprints. To further improve performance, we present a novel sensor fusion technique that integrates camera and Wi-Fi to improve localization specificity, and use compass sensor data to remove orientation drift. We evaluate the algorithms in diverse real world indoor and outdoor environments, including an office floor, university campus and a visually aliased circular building loop. The algorithms produce topologically correct maps that are superior to those produced using only a single sensor modality.
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|Item Type:||Conference Paper|
|Keywords:||Buildings, Cameras, Computer architecture, IEEE 802.11 standards, Simultaneous localization and mapping|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 IEEE|
|Deposited On:||12 Nov 2014 22:59|
|Last Modified:||09 Sep 2016 05:22|
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