WiSLAM: Improving FootSLAM with WiFi

Author

Bruno, Luigi ; Robertson, Patrick

Author_Institution

Dept. of Inf. & Electr. Eng., Univ. of Salerno, Fisciano, Italy

fYear

2011

fDate

21-23 Sept. 2011

Firstpage

1

Lastpage

10

Abstract

We address Simultaneous Localization and Mapping (SLAM) for pedestrians by means of WiFi signal strength measurements. In our system odometric data from foot mounted Inertial Measurements Units are fused with received signal strength (RSS) measurements of IEEE 802.11. To do this, we assign a probabilistic model to RSS measurements, and adopt the Bayesian framework on which FootSLAM and PlaceSLAM are based. Computational aspects are also accounted in order to provide a practical implementation of the algorithm. Simulative and experimental examples of WiSLAM are shown to underline the effectiveness of our proposal.

Keywords

Bayes methods; SLAM (robots); probability; wireless LAN; Bayesian framework; FootSLAM; IEEE 802.11; PlaceSLAM; WiFi signal strength measurements; WiSLAM; foot mounted inertial measurements units; odometric data; probabilistic model; received signal strength measurements; simultaneous localization and mapping; Accuracy; Approximation methods; Bayesian methods; IEEE 802.11 Standards; Position measurement; Simultaneous localization and mapping; Bayesian algorithm; Inertial Measurements Units; Received Signal Strengths; SLAM;

fLanguage

English

Publisher

ieee

Conference_Titel

Indoor Positioning and Indoor Navigation (IPIN), 2011 International Conference on

Conference_Location

Guimaraes

Print_ISBN

978-1-4577-1805-2

Electronic_ISBN

978-1-4577-1803-8

Type

conf

DOI

10.1109/IPIN.2011.6071916

Filename

6071916