Simultaneous Localization and Mapping Problem in Wireless Sensor NetworksReport as inadecuate

Simultaneous Localization and Mapping Problem in Wireless Sensor Networks - Download this document for free, or read online. Document in PDF available to download.

1 Département de Mathématiques-Université de Paris XI 2 LTCI - Laboratoire Traitement et Communication de l-Information

Abstract : Mobile device localization in wireless sensor networks is a challenging task. It has already been addressed when the WiFI propagation maps of the access points are modeled deterministically. However, this procedure does not take into account the environmental dynamics and also assumes an offline human training calibration. In this paper, the maps are made of an average indoor propagation model combined with a perturbation field which represents the influence of the environment. This perturbation field is embedded with a prior distribution. The device localization is dealt with using Sequential Monte Carlo methods and relies on the estimation of the propagation maps. This inference task is performed online, i.e. using the observations sequentially, with a recently proposed online Expectation Maximization based algorithm. The performance of the algorithm are illustrated through Monte Carlo experiments.

Keywords : Simultaneous localization and Mapping Indoor localization Received Signal Strength Indicator WiFi Signal Propagation

Author: Thierry Dumont - Sylvain Le Corff -



Related documents