Autonomous Localization and Mapping Using a Single Mobile Device

TL;DR

This paper presents a method for simultaneous room shape reconstruction and device self-localization using acoustic echoes and motion sensors, without pre-existing infrastructure, demonstrated through practical algorithms and experiments.

Contribution

It introduces a novel approach combining acoustic echo analysis and motion sensor data for infrastructure-free 2D room mapping and localization.

Findings

Unique localization and mapping with three measurement points and known distances

Effective algorithms for noise and higher order echo handling

Experimental validation demonstrating practical feasibility

Abstract

This paper considers the problem of simultaneous 2-D room shape reconstruction and self-localization without the requirement of any pre-established infrastructure. A mobile device equipped with co-located microphone and loudspeaker as well as internal motion sensors is used to emit acoustic pulses and collect echoes reflected by the walls. Using only first order echoes, room shape recovery and self-localization is feasible when auxiliary information is obtained using motion sensors. In particular, it is established that using echoes collected at three measurement locations and the two distances between consecutive measurement points, unique localization and mapping can be achieved provided that the three measurement points are not collinear. Practical algorithms for room shape reconstruction and self-localization in the presence of noise and higher order echoes are proposed along with experimental results to demonstrate the effectiveness of the proposed approach.