Collaborative merging of radio SLAM maps in view of crowd-sourced data acquisition and big data

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding


Indoor localization and navigation is a much researched and difficult problem. The best solutions, usually use expensive specialized equipment and/or prior calibration of some form. To the average person with smart or Internet-Of-Things devices, these solutions are not feasible, particularly in large scales. With hardware advancements making Ultra-Wideband devices more accurate and low powered, this unlocks the potential of having such devices in commonplace around factories and homes, enabling an alternative method of navigation. Therefore, indoor anchor calibration becomes a key problem in order to implement these devices efficiently and effectively. In this paper, we present a method to fuse radio SLAM (also known as Time-Of-Arrival self-calibration) maps together in a linear way. In doing so we are then able to collaboratively calibrate the anchor positions in 3D to native precision of the devices. Furthermore, we introduce an automatic scheme to determine which of the maps are best to use to further improve the anchor calibration and its robustness but also show which maps could be discarded. Additionally, when a map is fused in a linear way, it is a very computationally cheap process and produces a reasonable map which is required to push for crowd-sourced data acquisition.


Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Computer Vision and Robotics (Autonomous Systems)


  • Big Data, Crowdsourced, Radio Slam, Toa Self-calibration
Original languageEnglish
Title of host publicationICPRAM 2019 - Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods
EditorsAna Fred, Maria De Marsico, Gabriella Sanniti di Baja
Number of pages7
ISBN (Electronic)9789897583513
Publication statusPublished - 2019
Publication categoryResearch
Event8th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2019 - Prague, Czech Republic
Duration: 2019 Feb 192019 Feb 21


Conference8th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2019
CountryCzech Republic