Range-SLAM: Ultra-Wideband-Based Smoke-Resistant Real-Time Localization and Mapping

TL;DR

Range-SLAM leverages Ultra-Wideband signals for real-time, smoke-resistant localization and mapping, providing a robust alternative to optical sensors in harsh environments with minimal hardware requirements.

Contribution

The paper introduces a lightweight SLAM system using UWB signals for accurate localization and mapping in low-visibility conditions, without relying on expensive optical sensors.

Findings

Effective in smoke-filled environments

Achieves real-time 2D mapping and localization

Uses UWB signals with WLS for robustness

Abstract

This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh conditions using Ultra-Wideband (UWB) signals. While optical sensors like LiDAR and cameras struggle in low-visibility environments, UWB signals provide a robust alternative for real-time positioning. The proposed system uses general UWB devices to achieve accurate mapping and localization without relying on expensive LiDAR or other dedicated hardware. By utilizing only the distance and Received Signal Strength Indicator (RSSI) provided by UWB sensors in relation to anchors, we combine the motion of the tag-carrying agent with raycasting algorithm to construct a 2D occupancy grid map in real time. To enhance localization in challenging conditions, a Weighted Least Squares (WLS) method is employed. Extensive real-world experiments, including smoke-filled environments and simulated