Floor Plan Reconstruction with High-Precision RF-based Tracking

Indoor maps are essential to indoor location-based services, but are not widely accessible despite considerable efforts from the industry. Existing solutions employ costly hardware to achieve accurate mapping, or resort to laborious crowdsourcing methods, which may suffer from low accuracy due to inaccurate inertial sensing. In this paper, we leverage advanced RF-based inertial tracking and present a high-accuracy and low-cost floor plan reconstruction system. The proposed system combines local information from RF tracking with the global contexts from inertial sensing (e.g., magnetic field strength) for an accurate map. We validate the performance with commodity WiFi in an office building, which shows that the proposed system can efficiently generate faithful maps for a targeted area. With the ubiquitous deployment of WiFi devices, our approach will make a wide range of indoor location-based systems possible.