Structure-from-WiFi

With the rising prominence of WiFi in common spaces, efforts have been made in the robotics community to take advantage of this fact by incorporating WiFi signal measurements in indoor SLAM (Simultaneous Localization and Mapping) systems, termed WiFiSLAM. This paper describes recent work in the development of WiFiSLAM systems and addresses the challenges currently faced in achieving WiFi-based mapping used in typical SLAM applications. A discussion of the usage of alternative WiFi-based systems is conducted, with a focus on the field of research into k-visibility. We introduce the novel concept of an inverse k-visibility algorithm and its application in using a free-space prediction model to achieve geometric mapping of an environment. A suggested approach to build upon this model is given, with simulated and experimental results implemented to demonstrate the proposed inverse k-visibility-based approach