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  • See Through Smoke: Robust indoor mapping with low-cost mmWave radar
  • MobiSys '20: Proceedings of the 18th International Conference on Mobile Systems, Applications, and Services 논문

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 MobiSys '20: Proceedings of the 18th International Conference on Mobile Systems, Applications, and Services / June 2020 


『See Through Smoke: Robust indoor mapping with low-cost mmWave radar』


Authors

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


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.


Review

시야가 확실하지 않은 화재 현장에서 실내 환경 파악을 위해 극 고주파 센서인 mmWave를 사용하는 시스템을 비교적 정확한 광학 센서인 Lidar를 이용해 기계학습시켜 낮은 가격과 높은 정확도로 사물을 식별하고 실내 지도를 재구성하는 프로그램인 Millimap에 관한 연구


References 

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3. Fadel Adib, Zachary Kabelac, and Dina Katabi. 2015. Multi-Person Localization via RF Body Reflections. In NSDI.