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Simultaneous localization and mapping with power network electromagnetic field
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Xiaoxuan Lu, Chris , Li, Yang, Zhao, Peijun, Chen, Changhao, Xie, Linhai, Tan, Rui, Wen, Hongkai and Trigoni, Niki (2018) Simultaneous localization and mapping with power network electromagnetic field. In: MobiCom 2018 : The 24th Annual International Conference on Mobile Computing and Networking, New Delhi, India, 29 Oct - 2 Nov 2018 pp. 607-622. ISBN 9781450359030. doi:10.1145/3241539.3241540
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Official URL: https://doi.org/10.1145/3241539.3241540
Abstract
Various sensing modalities have been exploited for indoor location sensing, each of which has well understood limitations, however. This paper presents a first systematic study on using the electromagnetic field (EMF) induced by a building’s electric power network for simultaneous localization and mapping (SLAM). A basis of this work is a measurement study showing that the power network EMF sensed by either a customized sensor or smartphone’s microphone as a side- channel sensor is spatially distinct and temporally stable. Based on this, we design a SLAM approach that can reliably detect loop closures based on EMF sensing results. With the EMF feature map constructed by SLAM, we also design an efficient online localization scheme for resource-constrained mobiles. Evaluation in three indoor spaces shows that the power network EMF is a promising modality for location sensing on mobile devices, which is able to run in real time and achieve sub-meter accuracy.
Item Type: | Conference Item (Paper) | ||||||
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Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering | ||||||
Divisions: | Faculty of Science, Engineering and Medicine > Science > Computer Science | ||||||
Library of Congress Subject Headings (LCSH): | Wireless localization, Electromagnetic fields -- Industrial applications, Smartphones | ||||||
Publisher: | Association for Computing Machinery | ||||||
ISBN: | 9781450359030 | ||||||
Official Date: | October 2018 | ||||||
Dates: |
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Page Range: | pp. 607-622 | ||||||
DOI: | 10.1145/3241539.3241540 | ||||||
Status: | Peer Reviewed | ||||||
Publication Status: | Published | ||||||
Reuse Statement (publisher, data, author rights): | © 2018 Association for Computing Machinery. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in MobiCom ’18, October 29-November 2, 2018, New Delhi, India, | ||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||
Date of first compliant deposit: | 7 August 2018 | ||||||
Date of first compliant Open Access: | 7 August 2018 | ||||||
Conference Paper Type: | Paper | ||||||
Title of Event: | MobiCom 2018 : The 24th Annual International Conference on Mobile Computing and Networking | ||||||
Type of Event: | Conference | ||||||
Location of Event: | New Delhi, India | ||||||
Date(s) of Event: | 29 Oct - 2 Nov 2018 | ||||||
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