This is a demo of Wi-Fi fingerprint localization and SLAM autonomous navigation.

WiFi fingerprinting can be used in GPS-denied area (e.g., indoor environment) to estimate the position of targets with low cost and high accuracy. It can also assist autonomous driving (e.g., estimating the position of the autonomous vehicles or assisting the vehicles to decide the destination).

In this demo, one Kobuki acts as a thief and another Kobuki acts as a police. The infrastructure collects the thief’s Wi-Fi RSSI and send them to the police. The police estimates thief’s location by Wi-Fi fingerprint localization algorithm, and automatically goes to catch him by using SLAM navigation.

For more details of it, please refer to our papers:

Yu TAO, Azril HANIZ, Kentaro SANO, Ryosuke IWATA, Yusuke KUKI, Ryouta KOSAKA, Gia Khanh TRAN, Jun-ichi TAKADA, Kei SAKAGUCHI. (Invited) A Guide of Fingerprint Based Radio Emitter Localization using Multiple Sensors, IEICE Trans. Commun., IEICE, Vol. E101-B, No. 10, Oct. 2018.

Ryousuke Iwata, Gia Khanh Tran, Kei Sakaguchi, Kiyomichi Araki. [Poster Presentation] A Novel RF Fingerprint Management Architecture for Wi-Fi Fingerprinting Localization, SR Technical Committee, IEICE technical report, IEICE, Oct. 2014.

Ryouta Kosaka, Gia Khanh Tran, Kei Sakaguchi, Kiyomichi Araki. [Poster Presentation] Indoor Localization System with Wi-Fi Fingerprints and Pedestrian Dead Reckoning, CQ Technical Committee, IEICE technical report, IEICE, Vol. 2016-10-CQ, Oct. 2016.

Kentaro Sano, Gia Khanh Tran, Masahiro Watanabe, Kei Sakaguchi, Kiyomichi Araki, Daisuke Hayashi, Toshihiro Yamaguchi, Shintaro Arata. Multi-sensor Location Estimation for Illegal Cell-phone Use in Real-Life Indoor Environment, IEEE ICCS2012, Nov. 2012.