ThruMapper: Through-wall building tomography with a single mapping robot

Bo Tan; Kevin Chetty; Kyle Jamieson

doi:10.1145/3032970.3032973

ThruMapper: Through-wall building tomography with a single mapping robot

Bo Tan, Kevin Chetty, Kyle Jamieson

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

11 Citations (Scopus)

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.

Original language	English
Title of host publication	HotMobile 2017 - Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications
Publisher	Association for Computing Machinery, Inc
Pages	1-6
Number of pages	6
ISBN (Electronic)	978-1-4503-4907-9
DOIs	https://doi.org/10.1145/3032970.3032973
Publication status	Published - 21 Feb 2017
Event	18th International Workshop on Mobile Computing Systems and Applications - Sonoma, United States Duration: 21 Feb 2017 → 22 Feb 2017

Conference

Conference	18th International Workshop on Mobile Computing Systems and Applications
Abbreviated title	HotMobile 2017
Country/Territory	United States
City	Sonoma
Period	21/02/17 → 22/02/17

ASJC Scopus subject areas

Software
Computer Networks and Communications
Human-Computer Interaction
Computer Science Applications

Access to Document

10.1145/3032970.3032973

Cite this

ThruMapper: Through-wall building tomography with a single mapping robot. / Tan, Bo; Chetty, Kevin; Jamieson, Kyle.
HotMobile 2017 - Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications. Association for Computing Machinery, Inc, 2017. p. 1-6 3032973.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

Tan, B, Chetty, K & Jamieson, K 2017, ThruMapper: Through-wall building tomography with a single mapping robot. in HotMobile 2017 - Proceedings of the 18th International Workshop on Mobile Computing Systems and Applications., 3032973, Association for Computing Machinery, Inc, pp. 1-6, 18th International Workshop on Mobile Computing Systems and Applications, Sonoma, United States, 21/02/17. https://doi.org/10.1145/3032970.3032973

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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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AB - 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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ThruMapper: Through-wall building tomography with a single mapping robot

Abstract

Conference

ASJC Scopus subject areas

Access to Document

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Cite this