Online EM for indoor simultaneous localization and mapping

Author

Dumont, Thierry ; Le Corff, Sylvain

Author_Institution

Lab. de Math., Univ. Paris-Sud, Orsay, France

fYear

2013

Firstpage

6431

Lastpage

6435

Abstract

This paper addresses the problem of mobile device localization in wireless sensor networks. The mobile is assumed to receive the signals transmitted byWiFi access points. The localization procedure is performed online (i.e. using the observations acquired by the mobile) and relies on the estimation of the propagation maps of the signal associated with each access point. This intermediate estimation step uses a new online Expectation Maximization based algorithm and Sequential Monte Carlo methods.

Keywords

Monte Carlo methods; expectation-maximisation algorithm; wireless sensor networks; WiFi access points; indoor simultaneous localization; indoor simultaneous mapping; mobile device localization; online EM; online expectation maximization based algorithm; propagation maps; sequential Monte Carlo methods; wireless sensor networks; Approximation methods; Estimation; Hidden Markov models; IEEE 802.11 Standards; Mobile communication; Monte Carlo methods; Simultaneous localization and mapping; Sequential Monte Carlo methods; Simultaneous localization and mapping; WiFi signal;

fLanguage

English

Publisher

ieee

Conference_Titel

Acoustics, Speech and Signal Processing (ICASSP), 2013 IEEE International Conference on

Conference_Location

Vancouver, BC

ISSN

1520-6149

Type

conf

DOI

10.1109/ICASSP.2013.6638904

Filename

6638904