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Simultaneous Localization and Mapping with Power Network Electromagnetic Field

Published: 15 October 2018 Publication History

Abstract

Various sensing modalities have been exploited for indoor location sensing, each of which has well understood limitations, however. This paper presents a first systematic study on using the electromagnetic field (EMF) induced by a building's electric power network for simultaneous localization and mapping (SLAM). A basis of this work is a measurement study showing that the power network EMF sensed by either a customized sensor or smartphone's microphone as a side-channel sensor is spatially distinct and temporally stable. Based on this, we design a SLAM approach that can reliably detect loop closures based on EMF sensing results. With the EMF feature map constructed by SLAM, we also design an efficient online localization scheme for resource-constrained mobiles. Evaluation in three indoor spaces shows that the power network EMF is a promising modality for location sensing on mobile devices, which is able to run in real time and achieve sub-meter accuracy.

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  • (2024)BLIPS: Bluetooth locator for an Indoor Positioning System in RealtimeProceedings of the 7th ACM SIGCAS/SIGCHI Conference on Computing and Sustainable Societies10.1145/3674829.3675057(18-29)Online publication date: 8-Jul-2024
  • (2024)GPMS: Enabling Indoor GNSS Positioning using Passive MetasurfacesProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3690702(1424-1438)Online publication date: 4-Dec-2024
  • (2024)EVLeSen: In-Vehicle Sensing with EV-Leaked SignalProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3649389(679-693)Online publication date: 29-May-2024
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    cover image ACM Conferences
    MobiCom '18: Proceedings of the 24th Annual International Conference on Mobile Computing and Networking
    October 2018
    884 pages
    ISBN:9781450359030
    DOI:10.1145/3241539
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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    Published: 15 October 2018

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    Author Tags

    1. electromagnetic field sensing
    2. indoor localization
    3. power line network
    4. simultaneous localization and mapping

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    MobiCom '18 Paper Acceptance Rate 42 of 187 submissions, 22%;
    Overall Acceptance Rate 440 of 2,972 submissions, 15%

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    • (2024)BLIPS: Bluetooth locator for an Indoor Positioning System in RealtimeProceedings of the 7th ACM SIGCAS/SIGCHI Conference on Computing and Sustainable Societies10.1145/3674829.3675057(18-29)Online publication date: 8-Jul-2024
    • (2024)GPMS: Enabling Indoor GNSS Positioning using Passive MetasurfacesProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3690702(1424-1438)Online publication date: 4-Dec-2024
    • (2024)EVLeSen: In-Vehicle Sensing with EV-Leaked SignalProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3649389(679-693)Online publication date: 29-May-2024
    • (2024)Map++: Towards User-Participatory Visual SLAM Systems with Efficient Map Expansion and SharingProceedings of the 30th Annual International Conference on Mobile Computing and Networking10.1145/3636534.3649386(633-647)Online publication date: 29-May-2024
    • (2024)Orientation-Aware 3D SLAM in Alternating Magnetic Field from PowerlinesProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36314467:4(1-25)Online publication date: 12-Jan-2024
    • (2024)Indoor Smartphone SLAM With Acoustic EchoesIEEE Transactions on Mobile Computing10.1109/TMC.2023.332339323:6(6634-6649)Online publication date: Jun-2024
    • (2024)Predictive Modeling for Safe Navigation of UAVs Near High Voltage Transmission Lines2024 7th International Conference on Electrical Engineering and Green Energy (CEEGE)10.1109/CEEGE62093.2024.10744129(216-225)Online publication date: 28-Jun-2024
    • (2023)ProxiFitProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36109207:3(1-32)Online publication date: 27-Sep-2023
    • (2023)Demonstrating ProxiFit: Proximal Magnetic Sensing using a Single Commodity Mobile toward Holistic Weight Exercise MonitoringAdjunct Proceedings of the 2023 ACM International Joint Conference on Pervasive and Ubiquitous Computing & the 2023 ACM International Symposium on Wearable Computing10.1145/3594739.3610710(151-156)Online publication date: 8-Oct-2023
    • (2023)DancingAnt: Body-empowered Wireless Sensing Utilizing Pervasive Radiations from PowerlineProceedings of the 29th Annual International Conference on Mobile Computing and Networking10.1145/3570361.3613272(1-15)Online publication date: 2-Oct-2023
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