WiFi localization in 3D

摘要

Localization of mobile robots can be challenging in highly dynamic environments (airport terminals, stores, hospitals) yet these areas offer great potential for robotics applications. HighWiFi coverage provides a way to localize even low-cost robots that do not need to be equipped with expensive exteroceptive sensors or excessive computational power to run visual-based SLAM algorithms. Since current trend in robotics is in mass-deployment of low-cost, replaceable robots, we focus our efforts in this direction as well. Possible solution is combination of high-tech robots deployed as support assuring reliable localization for the low-cost robots that are actually doing the job. The proposed scenario is to use one SLAM robot to map WiFi signal strength in the working area and provide it to a low-cost robot to correct drift of its 6-DOF gyro-odometry localization system. For this purpose, we extend Gaussian-processes-based WiFi localization algorithms to full 3D and experimentally evaluate the proposed approach in 2 mapping and 7 localization sorties performed on different dates spanning four months.