See through Smoke: Robust Indoor Mapping with Low-Cost MmWave Radar

Chris Xiaoxuan Lu, Stefano Rosa, Peijun Zhao, Bing Wang, Changhao Chen, John A. Stankovic, Niki Trigoni, Andrew Markham

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the design, implementation and evaluation of milliMap, a single-chip millimetre wave (mmWave) radar based indoor mapping system targetted towards low-visibility environments to assist in emergency response. A unique feature of milliMap is that it only leverages a low-cost, off-the-shelf mmWave radar, but can reconstruct a dense grid map with accuracy comparable to lidar, as well as providing semantic annotations of objects on the map. milliMap makes two key technical contributions. First, it autonomously overcomes the sparsity and multi-path noise of mmWave signals by combining cross-modal supervision from a co-located lidar during training and the strong geometric priors of indoor spaces. Second, it takes the spectral response of mmWave reflections as features to robustly identify different types of objects e.g. doors, walls etc. Extensive experiments in different indoor environments show that milliMap can achieve a map reconstruction error less than 0.2m and classify key semantics with an accuracy of ~ 90%, whilst operating through dense smoke.
Original languageEnglish
Title of host publicationProceedings of the 18th International Conference on Mobile Systems, Applications, and Services
Place of PublicationNew York, NY, USA
PublisherACM Association for Computing Machinery
Pages14–27
Number of pages14
ISBN (Print)9781450379540
DOIs
Publication statusPublished - 15 Jun 2020
Event18th ACM International Conference on Mobile Systems, Applications, and Services - Toronto, Canada
Duration: 15 Jun 202019 Jun 2020
Conference number: 18
https://www.sigmobile.org/mobisys/2020/

Conference

Conference18th ACM International Conference on Mobile Systems, Applications, and Services
Abbreviated titleMobiSys 2020
CountryCanada
CityToronto
Period15/06/2019/06/20
Internet address

Keywords

  • indoor mapping
  • millimeter wave radar
  • emergency response
  • mobile robotics

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