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GPSLAM: towards scalable and sustainable indoor positioning systems with mobile data

Published: 17 October 2022 Publication History

Abstract

Survey-based indoor positioning systems are expensive to establish and maintain. We describe how a crowdsourced WiFi radio map building problem can be framed as a trajectory alignment problem and further solved by the existing graph-based Simultaneous Localisation and Mapping (SLAM) framework. Specifically, we show how to exploit crowd-sourced WiFi signals and construct opportunistic constraints that satisfy the WiFi signal consistency modelled by Gaussian Processes (GP). We repurpose GraphSLAM to optimise these WiFi constraints collectively to approximate an optimised global signal consistency. We implement an automatic pipeline we call GPSLAM to produce radio maps based only on crowdsourced mobile data. Evaluation based on realistically crowdsourced mobile data generated naturally and passively by common visitors of multiple shopping malls demonstrates that GPSLAM can build radio maps that achieve comparable results to laborious manual surveys while the human intervention involved is minimised.

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Cited By

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  • (2024)Optimization-Based Wi-Fi Radiomap Construction for Multifloor Indoor Positioning2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN)10.1109/IPIN62893.2024.10786148(1-6)Online publication date: 14-Oct-2024
  • (2022)Crowdsourcing Mobile Data for A Passive Indoor Positioning System - The MAA Case Study2022 18th International Conference on Mobility, Sensing and Networking (MSN)10.1109/MSN57253.2022.00024(59-67)Online publication date: Dec-2022

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cover image ACM Conferences
MWSSH '22: Proceedings of the 1st ACM Workshop on Mobile and Wireless Sensing for Smart Healthcare
October 2022
41 pages
ISBN:9781450395205
DOI:10.1145/3556551
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: 17 October 2022

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View all
  • (2024)Optimization-Based Wi-Fi Radiomap Construction for Multifloor Indoor Positioning2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN)10.1109/IPIN62893.2024.10786148(1-6)Online publication date: 14-Oct-2024
  • (2022)Crowdsourcing Mobile Data for A Passive Indoor Positioning System - The MAA Case Study2022 18th International Conference on Mobility, Sensing and Networking (MSN)10.1109/MSN57253.2022.00024(59-67)Online publication date: Dec-2022

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