Indoor mapping based on time delay estimation in wireless networks

In indoor wireless localization, navigation and communications, knowledge of the floor plan is valuable side information and provides more reliable performance. Such information may not be available. Estimating indoor maps using sensor networks and time delay measurements, i.e., without angular information, is a challenging task. In this paper, a novel algorithm is developed to solve the problem of mapping and measurement clustering. The algorithm is applicable to wireless and acoustic networks with high resolution time delay measurements.