research-article

ThruMapper: Through-Wall Building Tomography with a Single Mapping Robot

Authors:

Bo Tan,

Kevin Chetty,

Kyle JamiesonAuthors Info & Claims

HotMobile '17: Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications

Pages 1 - 6

https://doi.org/10.1145/3032970.3032973

Published: 21 February 2017 Publication History

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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.

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M. Alzantot and M. Youssef. Crowdinside: automatic construction of indoor floorplans. In Proc. of Advances in Geographic Information Systems, 2012.

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Cited By

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Khan UVenkatnarayan RShahzad M(2023)Using RF Signals to Generate Indoor MapsACM Transactions on Sensor Networks10.1145/353412119:1(1-30)Online publication date: 31-Jan-2023
https://dl.acm.org/doi/10.1145/3534121
Sun BTan BAshraf MValkama MLohan E(2022)Embedding the Localization and Imaging Functions in Mobile Systems: An Airport Surveillance Use CaseIEEE Open Journal of the Communications Society10.1109/OJCOMS.2022.32089453(1656-1671)Online publication date: 2022
https://doi.org/10.1109/OJCOMS.2022.3208945
Panja AChowdhury CNeogy S(2022)Survey on inertial sensor-based ILS for smartphone usersCCF Transactions on Pervasive Computing and Interaction10.1007/s42486-022-00098-24:3(319-337)Online publication date: 18-Mar-2022
https://doi.org/10.1007/s42486-022-00098-2
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ThruMapper: Through-Wall Building Tomography with a Single Mapping Robot
1. Hardware
  1. Communication hardware, interfaces and storage

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HotMobile '17: Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications

February 2017

116 pages

ISBN:9781450349079

DOI:10.1145/3032970

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: 21 February 2017

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HotMobile '17: The 18th International Workshop on Mobile Computing Systems and Applications

February 21 - 22, 2017

CA, Sonoma, USA

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Overall Acceptance Rate 96 of 345 submissions, 28%

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The 26th International Workshop on Mobile Computing Systems and Applications

February 26 - 27, 2025

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Khan UVenkatnarayan RShahzad M(2023)Using RF Signals to Generate Indoor MapsACM Transactions on Sensor Networks10.1145/353412119:1(1-30)Online publication date: 31-Jan-2023
https://dl.acm.org/doi/10.1145/3534121
Sun BTan BAshraf MValkama MLohan E(2022)Embedding the Localization and Imaging Functions in Mobile Systems: An Airport Surveillance Use CaseIEEE Open Journal of the Communications Society10.1109/OJCOMS.2022.32089453(1656-1671)Online publication date: 2022
https://doi.org/10.1109/OJCOMS.2022.3208945
Panja AChowdhury CNeogy S(2022)Survey on inertial sensor-based ILS for smartphone usersCCF Transactions on Pervasive Computing and Interaction10.1007/s42486-022-00098-24:3(319-337)Online publication date: 18-Mar-2022
https://doi.org/10.1007/s42486-022-00098-2
Sun BTan BWang WLohan E(2021)A Comparative Study of 3D UE Positioning in 5G New Radio with a Single StationSensors10.3390/s2104117821:4(1178)Online publication date: 8-Feb-2021
https://doi.org/10.3390/s21041178
Pizarro ABeltrán JCominelli MGringoli FWidmer JBanerjee SMottola LZhou X(2021)Accurate ubiquitous localization with off-the-shelf IEEE 802.11ac devicesProceedings of the 19th Annual International Conference on Mobile Systems, Applications, and Services10.1145/3458864.3468850(241-254)Online publication date: 24-Jun-2021
https://dl.acm.org/doi/10.1145/3458864.3468850
Dogru SMarques L(2021)Through-Wall Mapping Using Radar: Approaches to Handle Multipath ReflectionsIEEE Sensors Journal10.1109/JSEN.2021.306772121:10(11674-11683)Online publication date: 15-May-2021
https://doi.org/10.1109/JSEN.2021.3067721
Dogru SMarques L(2018)Through-Wall Mapping Using a Short Range Radar2018 IEEE SENSORS10.1109/ICSENS.2018.8589866(1-4)Online publication date: Oct-2018
https://doi.org/10.1109/ICSENS.2018.8589866
Wu CYang ZLiu YWu CYang ZLiu Y(2018)Building Tomography: Automatic Floor Plan GenerationWireless Indoor Localization10.1007/978-981-13-0356-2_4(59-80)Online publication date: 23-Aug-2018
https://doi.org/10.1007/978-981-13-0356-2_4
Ghosh PXie JKrishnamachari BGollakotta SZhou X(2017)miniRadarProceedings of the 4th ACM Workshop on Hot Topics in Wireless10.1145/3127882.3127891(25-29)Online publication date: 16-Oct-2017
https://dl.acm.org/doi/10.1145/3127882.3127891

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