Crowd-based personal radars for indoor mapping using UWB measurements

Anna Guerra (1) , Francesco Guidi (2, 3) , Lilia Ahtaryieva (1) , Nicolo Decarli (1) , Davide Dardari (1)

1 DEI - Dipartimento di Ingegneria dell'Energia elettrica e dell'Informazione
2 CEA-LETI - Commissariat à l'énergie atomique et aux énergies alternatives - Laboratoire d'Electronique et de Technologie de l'Information
3 UGA [2016-2019] - Université Grenoble Alpes [2016-2019]

The concept of personal radar has recently emerged as an interesting solution for future simultaneous localization and mapping (SLAM) applications. In this paper we evaluate the performance of an ultrawide-band (UWB) radar system for indoor environments mapping by exploiting a grid-based Bayesian approach able to combine all the measurements collected by radars adopting non-pencil beam antennas. In the proposed approach, the crowd will be involved by freely exploring the space, sending environmental partial views of it to cloud servers, where a complete map will be formed. Results show how the mapping accuracy can be improved thanks to the information collected from the crowd and considering different receivers schemes.

Keywords: UWB; SLAM; indoor mapping; personal radar

Domains: Engineering Sciences [physics]

Anna Guerra, Francesco Guidi, Lilia Ahtaryieva, Nicolo Decarli, Davide Dardari. Crowd-based personal radars for indoor mapping using UWB measurements. Ubiquitous Wireless Broadband (ICUWB), 2016 IEEE International Conference on, Oct 2016, Nanjing, China. ⟨10.1109/ICUWB.2016.7790437⟩. ⟨cea-01559397⟩