Online EM for Indoor Simultaneous Localization and Mapping

Thierry Dumont (1) , Sylvain Le Corff (2)

1 MODAL'X - Modélisation aléatoire de Paris X
2 LM-Orsay - Laboratoire de Mathématiques d'Orsay

This paper addresses the problem of mobile device localization in wireless sensor networks. The mobile is assumed to receive the signals transmitted byWiFi access points. The localization procedure is performed online (i.e. using the observations acquired by the mobile) and relies on the estimation of the propagation maps of the signal associated with each access point. This intermediate estimation step uses a new online Expectation Maximization based algorithm and Sequential Monte Carlo methods.

Mots clés: Approximation methods; Estimation; expectation-maximisation algorithm; hidden Markov models; IEEE 802.11 Standards; indoor simultaneous localization; indoor simultaneous mapping; Mobile communication; mobile device localization; Monte Carlo methods; online EM; online expectation maximization based algorithm; propagation maps; sequential Monte Carlo methods; Simultaneous localization and mapping; WiFi access points; WiFi signal; wireless sensor networks

Domaines: Mathématiques [math]

Thierry Dumont, Sylvain Le Corff. Online EM for Indoor Simultaneous Localization and Mapping. 2013 IEEE International Conference on Acoustics, Speech and Signal Processing, May 2013, Vancouver, Canada. pp.6431-6435, ⟨10.1109/ICASSP.2013.6638904⟩. ⟨hal-01491655⟩