University of Twente Student Theses


Wi-Fi based range-only constraint integration in RTAB-Map

Nass, Mathieu (2020) Wi-Fi based range-only constraint integration in RTAB-Map.

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Abstract:Loop-closure detection and the disambiguation of similar locations are difficult problems for simultaneous localisation and mapping (SLAM) algorithms. Wi-Fi is able to provide unique identifiers for locations, i.e.\ perceivable MAC-addresses. In this paper we investigate the possibility of exploiting received signal strength (RSS) in an existing visual graph-based SLAM algorithm, namely Real Time Apperance Based-Mapping (RTAB-Map). We formulate a range-only constraint and generate these constraints from perceivable Wi-Fi access-points (APs) during the SLAM process. We make the translation from RSS to distance by fitting a signal propagation model to measurement data. Finally, we evaluate performance by computing the absolute trajectory error (ATE) and relative pose error (RPE). These errors are computed by comparing with a measured ground-truth. We find that, in a controlled synthetic environment, the range-only constraints have great correctional capabilities for noisy odometry as well as great loop-closure potential. In the real-world experiments we observe limited performance due to the limitations of the used signal propagation model. In this case our addition to RTAB-map is beneficial in some of the tested robot configurations. However, the synthetic experiments show that performance increases significantly when better range measurements are available, in real-world from i.e. utra-wide-band sensors.
Item Type:Essay (Master)
DEMCON, Enschede, Netherlands
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:31 mathematics, 50 technical science in general, 54 computer science
Programme:Computer Science MSc (60300)
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