TY - GEN
T1 - ThruMapper
T2 - 18th International Workshop on Mobile Computing Systems and Applications, HotMobile 2017
AU - Tan, Bo
AU - Chetty, Kevin
AU - Jamieson, Kyle
N1 - Publisher Copyright:
© 2017, Association for Computing Machinery, Inc. All rights reserved.
PY - 2017/2/21
Y1 - 2017/2/21
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85016066514&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85016066514&partnerID=8YFLogxK
U2 - 10.1145/3032970.3032973
DO - 10.1145/3032970.3032973
M3 - Conference contribution
AN - SCOPUS:85016066514
T3 - HotMobile 2017 - Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications
SP - 1
EP - 6
BT - HotMobile 2017 - Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications
PB - Association for Computing Machinery, Inc
Y2 - 21 February 2017 through 22 February 2017
ER -