Indoor mapping using MIMO radio channel measurements

Abstract

Geometrical maps of the indoor environment are vital to many applications such as indoor localization and robot navigation. In this paper, a method for three-dimensional indoor mapping using multipath delay and direction estimates is developed. Required high-resolution estimates of multipath propagation path parameters are obtained using radio frequency measurements between two antenna arrays at multiple locations. A ray-tracing algorithm is developed for detecting specular propagation paths of radio signals and corresponding reflection points. A novel method is proposed to extract walls and other planar structures from the cloud of reflection points. The empirical results show an improved precision and enhanced geometric information compared to previous experiments.