RSSIを用いた屋内幾何マッピングのための逆k可視性
Inverse k-visibility for RSSI-based Indoor Geometric Mapping
WiFiのRSSI信号から未知環境の自由空間を推定する逆k可視性アルゴリズムを提案し、シミュレーションと実環境でLiDAR地図と比較して精度を検証した。
著者: Junseo Kim, Matthew Lisondra, Yeganeh Bahoo, Sajad Saeedi
分類: cs.RO
原文アブストラクト
In recent years, the increased availability of WiFi in indoor environments has gained interest in the robotics community to utilize WiFi signals for indoor simultaneous localization and mapping algorithms. This paper discusses the challenges of achieving high-accuracy geometric map building using WiFi signals. The paper introduces the concept of inverse k-visibility, developed from the k-visibility algorithm, to identify free space in an unknown environment, used for planning, navigation, and obstacle avoidance. Comprehensive experiments, including those utilizing single and multiple RSSI signals, were conducted in both simulated and real-world environments to demonstrate the robustness of the proposed algorithm. Additionally, a detailed analysis comparing the resulting maps with ground-truth LiDAR-based maps is provided to highlight the algorithm's accuracy and reliability.
