Chetty, K;
Tan, B;
Jamieson, K;
(2017)
ThruMapper: Through-Wall Building Tomography with a Single Mapping Robot.
In:
Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications.
Association for Computer Machinery (ACM): New York, NY, USA.
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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 25-centimetre RMS error.
| Type: | Proceedings paper |
|---|---|
| Title: | ThruMapper: Through-Wall Building Tomography with a Single Mapping Robot |
| Event: | HotMobile 2017 - The 18th International Workshop on Mobile Computing Systems and Applications |
| Location: | Sonoma, California, US |
| Dates: | 21 February 2017 - 22 February 2017 |
| ISBN-13: | 978-1-4503-4907-9 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1145/3032970.3032973 |
| Publisher version: | https://doi.org/10.1145/3032970.3032973 |
| Language: | English |
| Additional information: | © Author(s) | ACM 2017. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in: HotMobile '17 Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications, http://dx.doi.org/10.1145/3032970.3032973 |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Security and Crime Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1534611 |
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