ThruMapper: Through-wall building tomography with a single mapping robot

Bo Tan, Kevin Chetty, Kyle Jamieson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

Vision- and LIDAR-based Simultaneous Localization and Mapping (SLAM) techniques can build indoor building floorplans with ease, but require line-of-sight into every room of a building. We are developing a radio microwave-based system for building indoor floor plans using SLAM techniques, but without the requirement that the mapping robot has access to every room in the building. Our system uses multiple antennas to direct radio energy through walls in particular directions, and joint time- and angle-of-arrival estimation techniques to estimate their backscatter returns from the walls of the building. Wide bandwidth (120 MHz) transmissions combined with an iterative transmit nulling and receive cancellation strategy allows ThruMapper to isolate individual walls and measure the location of a non-line-of-sight wall hidden behind another wall and office clutter to within a 50-centimetre RMS error.

Original languageEnglish (US)
Title of host publicationHotMobile 2017 - Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications
PublisherAssociation for Computing Machinery, Inc
Pages1-6
Number of pages6
ISBN (Electronic)9781450349079
DOIs
StatePublished - Feb 21 2017
Event18th International Workshop on Mobile Computing Systems and Applications, HotMobile 2017 - Sonoma, United States
Duration: Feb 21 2017Feb 22 2017

Publication series

NameHotMobile 2017 - Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications

Other

Other18th International Workshop on Mobile Computing Systems and Applications, HotMobile 2017
CountryUnited States
CitySonoma
Period2/21/172/22/17

All Science Journal Classification (ASJC) codes

  • Software
  • Computer Networks and Communications
  • Human-Computer Interaction
  • Computer Science Applications

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  • Cite this

    Tan, B., Chetty, K., & Jamieson, K. (2017). ThruMapper: Through-wall building tomography with a single mapping robot. In HotMobile 2017 - Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications (pp. 1-6). [3032973] (HotMobile 2017 - Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications). Association for Computing Machinery, Inc. https://doi.org/10.1145/3032970.3032973