WiFi-SLAM using Gaussian process latent variable models
Brian D. Ferris, Dieter Fox and Neil Lawrence
In: IJCAI 2007, 6-12 Jan 2007, Hyderabad, India.
WiFi localization, the task of determining the physical location of a mobile device from wireless signal strengths, has been shown to be an accurate method of indoor and outdoor localization and a powerful building block for location-aware applications. However, most localization techniques require a training set of signal strength readings labeled against a ground truth location map, which is prohibitive to collect and maintain as maps grow large. In this paper we propose a novel technique for solving the WiFi SLAM problem using the Gaussian Process Latent Variable Model (GP-LVM) to determine the latent-space locations of unlabeled signal strength data. We show how GP-LVM, in combination with an appropriate motion dynamics model, can be used to reconstruct a topological connectivity graph from a signal strength sequence which, in combination with the learned Gaussian Process signal strength model, can be used to perform efficient localization.
|EPrint Type:||Conference or Workshop Item (Paper)|
|Project Keyword:||Project Keyword UNSPECIFIED|
|Subjects:||Theory & Algorithms|
|Deposited By:||Neil Lawrence|
|Deposited On:||25 February 2008|