TY - GEN
T1 - Omnidirectional bats, point-to-plane distances, and the price of uniqueness
AU - Krekovic, Miranda
AU - Dokmanic, Ivan
AU - Vetterli, Martin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/16
Y1 - 2017/6/16
N2 - We study simultaneous localization and mapping with a device that uses reflections to measure its distance from walls. Such a device can be realized acoustically with a synchronized collocated source and receiver; it behaves like a bat with no capacity for directional hearing or vocalizing. In this paper we generalize our previous work in 2D, and show that the 3D case is not just a simple extension, but rather a fundamentally different inverse problem. While generically the 2D problem has a unique solution, in 3D uniqueness is always absent in rooms with fewer than nine walls. In addition to the complete characterization of ambiguities which arise due to this non-uniqueness, we propose a robust solution for inexact measurements similar to analogous results for Euclidean Distance Matrices. Our theoretical results have important consequences for the design of collocated range-only SLAM systems, and we support them with an array of computer experiments.
AB - We study simultaneous localization and mapping with a device that uses reflections to measure its distance from walls. Such a device can be realized acoustically with a synchronized collocated source and receiver; it behaves like a bat with no capacity for directional hearing or vocalizing. In this paper we generalize our previous work in 2D, and show that the 3D case is not just a simple extension, but rather a fundamentally different inverse problem. While generically the 2D problem has a unique solution, in 3D uniqueness is always absent in rooms with fewer than nine walls. In addition to the complete characterization of ambiguities which arise due to this non-uniqueness, we propose a robust solution for inexact measurements similar to analogous results for Euclidean Distance Matrices. Our theoretical results have important consequences for the design of collocated range-only SLAM systems, and we support them with an array of computer experiments.
KW - Collocated source and receiver
KW - SLAM
KW - first-order echoes
KW - indoor localization
KW - point-to-plane distance matrix (PPDM)
KW - room geometry reconstruction
UR - https://www.scopus.com/pages/publications/85023774893
UR - https://www.scopus.com/pages/publications/85023774893#tab=citedBy
U2 - 10.1109/ICASSP.2017.7952759
DO - 10.1109/ICASSP.2017.7952759
M3 - Conference contribution
AN - SCOPUS:85023774893
T3 - ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
SP - 3261
EP - 3265
BT - 2017 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2017 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2017
Y2 - 5 March 2017 through 9 March 2017
ER -