Feature Based Indoor Mapping Using a Bat-Type UWB Radar

Deißler T, Thielecke J (2009)

Publication Type: Conference contribution

Publication year: 2009

Edited Volumes: Proceedings - 2009 IEEE International Conference on Ultra-Wideband, ICUWB 2009

Pages Range: 475-479

Conference Proceedings Title: Feature Based Indoor Mapping Using a Bat-Type UWB Radar

Event location: Vancouver, Canada CA

DOI: 10.1109/ICUWB.2009.5288802

Abstract

A system for building a feature-based map of an unknown indoor environment is proposed. We consider emergency scenarios where smoke and dust block the vision so that camera-based systems and laser range finders are not operable. In this kind of situation, ultra-wideband (UWB) radar is a good alternative. We use a bat-type UWB radar system composed of one transmitter and two receivers arranged in a fixed linear array. Time-of-flight measurements are taken between the transmitter and the receivers. The environment is reconstructed from impulse responses by extracting information on different features like walls, edges and corners. These features can be used as landmarks to navigate. The solution we present works by dividing the problem into three different parts and solving them: Tracking of the bat pose and localization of already detected landmarks; data association to single out measurements originating from the detected landmarks; and detection of new landmarks from the remaining measurements. By combining solutions to these three subtasks, a computationally cheap, precise algorithm for feature-based indoor mapping is obtained. Tests using real life data were performed to confirm the feasibility of the approach. © 2009 IEEE.

Authors with CRIS profile

Tobias Deißler Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl) Jörn Thielecke Professur für Informationstechnik (Schwerpunkt Ortsbestimmung und Navigation)

How to cite

APA:

Deißler, T., & Thielecke, J. (2009). Feature Based Indoor Mapping Using a Bat-Type UWB Radar. In Feature Based Indoor Mapping Using a Bat-Type UWB Radar (pp. 475-479). Vancouver, Canada, CA.

MLA:

Deißler, Tobias, and Jörn Thielecke. "Feature Based Indoor Mapping Using a Bat-Type UWB Radar." Proceedings of the In IEEE International Conference on Ultra-Wideband (ICUWB 2009), Vancouver, Canada 2009. 475-479.

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