WiFi SLAM algorithms: an experimental comparison

Localization and mapping in indoor environments, such as airports and hospitals, are key tasks for almost every robotic platform. Some researchers suggest the use of Range-Only (RO) sensors based on WiFi (Wireless Fidelity) technology with SLAM (Simultaneous Localization And Mapping) techniques to s...

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Detalles Bibliográficos
Autores: Herranz Cabrilla, Fernando, Llamazares Llamazares, Ángel|||0000-0001-8273-5163, Molinos Vicente, Eduardo José|||0000-0002-2088-4347, Ocaña Miguel, Manuel|||0000-0002-8875-1866, Sotelo Vázquez, Miguel Ángel|||0000-0001-8809-2103
Tipo de recurso: artículo
Fecha de publicación:2016
País:España
Institución:Universidad de Alcalá (UAH)
Repositorio:e_Buah Biblioteca Digital Universidad de Alcalá
Idioma:inglés
OAI Identifier:oai:ebuah.uah.es:10017/64673
Acceso en línea:http://hdl.handle.net/10017/64673
https://dx.doi.org/10.1017/S0263574714001908
Access Level:acceso abierto
Palabra clave:WiFi
SLAM
SAM
Indoor
Telecomunicaciones
Telecommunication
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spelling WiFi SLAM algorithms: an experimental comparisonHerranz Cabrilla, FernandoLlamazares Llamazares, Ángel|||0000-0001-8273-5163Molinos Vicente, Eduardo José|||0000-0002-2088-4347Ocaña Miguel, Manuel|||0000-0002-8875-1866Sotelo Vázquez, Miguel Ángel|||0000-0001-8809-2103WiFiSLAMSAMIndoorTelecomunicacionesTelecommunicationLocalization and mapping in indoor environments, such as airports and hospitals, are key tasks for almost every robotic platform. Some researchers suggest the use of Range-Only (RO) sensors based on WiFi (Wireless Fidelity) technology with SLAM (Simultaneous Localization And Mapping) techniques to solve both problems. The current state of the art in RO SLAM is mainly focused on the filtering approach, while the study of smoothing approaches with RO sensors is quite incomplete. This paper presents a comparison between filtering algorithms, such as EKF and FastSLAM, and a smoothing algorithm, the SAM (Smoothing And Mapping). Experimental results are obtained in indoor environments using WiFi sensors. The results demonstrate the feasibility of the smoothing approach using WiFi sensors in an indoor environment.20162016-04-01journal articlehttp://purl.org/coar/resource_type/c_6501NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10017/64673https://dx.doi.org/10.1017/S0263574714001908reponame:e_Buah Biblioteca Digital Universidad de Alcaláinstname:Universidad de Alcalá (UAH)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:ebuah.uah.es:10017/646732026-06-18T11:13:07Z
dc.title.none.fl_str_mv WiFi SLAM algorithms: an experimental comparison
title WiFi SLAM algorithms: an experimental comparison
spellingShingle WiFi SLAM algorithms: an experimental comparison
Herranz Cabrilla, Fernando
WiFi
SLAM
SAM
Indoor
Telecomunicaciones
Telecommunication
title_short WiFi SLAM algorithms: an experimental comparison
title_full WiFi SLAM algorithms: an experimental comparison
title_fullStr WiFi SLAM algorithms: an experimental comparison
title_full_unstemmed WiFi SLAM algorithms: an experimental comparison
title_sort WiFi SLAM algorithms: an experimental comparison
dc.creator.none.fl_str_mv Herranz Cabrilla, Fernando
Llamazares Llamazares, Ángel|||0000-0001-8273-5163
Molinos Vicente, Eduardo José|||0000-0002-2088-4347
Ocaña Miguel, Manuel|||0000-0002-8875-1866
Sotelo Vázquez, Miguel Ángel|||0000-0001-8809-2103
author Herranz Cabrilla, Fernando
author_facet Herranz Cabrilla, Fernando
Llamazares Llamazares, Ángel|||0000-0001-8273-5163
Molinos Vicente, Eduardo José|||0000-0002-2088-4347
Ocaña Miguel, Manuel|||0000-0002-8875-1866
Sotelo Vázquez, Miguel Ángel|||0000-0001-8809-2103
author_role author
author2 Llamazares Llamazares, Ángel|||0000-0001-8273-5163
Molinos Vicente, Eduardo José|||0000-0002-2088-4347
Ocaña Miguel, Manuel|||0000-0002-8875-1866
Sotelo Vázquez, Miguel Ángel|||0000-0001-8809-2103
author2_role author
author
author
author
dc.subject.none.fl_str_mv WiFi
SLAM
SAM
Indoor
Telecomunicaciones
Telecommunication
topic WiFi
SLAM
SAM
Indoor
Telecomunicaciones
Telecommunication
description Localization and mapping in indoor environments, such as airports and hospitals, are key tasks for almost every robotic platform. Some researchers suggest the use of Range-Only (RO) sensors based on WiFi (Wireless Fidelity) technology with SLAM (Simultaneous Localization And Mapping) techniques to solve both problems. The current state of the art in RO SLAM is mainly focused on the filtering approach, while the study of smoothing approaches with RO sensors is quite incomplete. This paper presents a comparison between filtering algorithms, such as EKF and FastSLAM, and a smoothing algorithm, the SAM (Smoothing And Mapping). Experimental results are obtained in indoor environments using WiFi sensors. The results demonstrate the feasibility of the smoothing approach using WiFi sensors in an indoor environment.
publishDate 2016
dc.date.none.fl_str_mv 2016
2016-04-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10017/64673
https://dx.doi.org/10.1017/S0263574714001908
url http://hdl.handle.net/10017/64673
https://dx.doi.org/10.1017/S0263574714001908
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:e_Buah Biblioteca Digital Universidad de Alcalá
instname:Universidad de Alcalá (UAH)
instname_str Universidad de Alcalá (UAH)
reponame_str e_Buah Biblioteca Digital Universidad de Alcalá
collection e_Buah Biblioteca Digital Universidad de Alcalá
repository.name.fl_str_mv
repository.mail.fl_str_mv
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