Indoor localization has recently witnessed an increase in interest, due to the potential wide range of services it can provide by leveraging Internet of Things (IoT), and ubiquitous connectivity. Different techniques, wireless technologies and mechanisms have been proposed in the literature to provide indoor localization services in order to improve the services provided to the users. However, there is a lack of an up-to-date survey paper that incorporates some of the recently proposed accurate and reliable localization systems. In this paper, we aim to provide a detailed survey of different indoor localization techniques, such as angle of arrival (AoA), time of flight (ToF), return time of flight (RTOF), and received signal strength (RSS); based on technologies, such as WiFi, radio frequency identification device (RFID), ultra wideband (UWB), Bluetooth, and systems that have been proposed in the literature. This paper primarily discusses localization and positioning of human users and their devices. We highlight the strengths of the existing systems proposed in the literature. In contrast with the existing surveys, we also evaluate different systems from the perspective of energy efficiency, availability, cost, reception range, latency, scalability, and tracking accuracy. Rather than comparing the technologies or techniques, we compare the localization systems and summarize their working principle. We also discuss remaining challenges to accurate indoor localization.

A Survey of Indoor Localization Systems and Technologies

We present Chronos, a system that enables a single WiFi access point to localize clients to within tens of centimeters. Such a system can bring indoor positioning to homes and small businesses which typically have a single access point.

The key enabler underlying Chronos is a novel algorithm that can compute sub-nanosecond time-of-flight using commodity WiFi cards. By multiplying the time-of-flight with the speed of light, a MIMO access point computes the distance between each of its antennas and the client, hence localizing it. Our implementation on commodity WiFi cards demonstrates that Chronos's accuracy is comparable to state-of-the-art localization systems, which use four or five access points.

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Decimeter-level localization with a single WiFi access point

Recently, ambient backscatter communication has been introduced as a cutting-edge technology which enables smart devices to communicate by utilizing ambient radio frequency (RF) signals without requiring active RF transmission. This technology is especially effective in addressing communication and energy efficiency problems for low-power communications systems such as sensor networks, and thus it is expected to realize numerous Internet-of-Things applications. Therefore, this paper aims to provide a contemporary and comprehensive literature review on fundamentals, applications, challenges, and research efforts/progress of ambient backscatter communications. In particular, we first present fundamentals of backscatter communications and briefly review bistatic backscatter communications systems. Then, the general architecture, advantages, and solutions to address existing issues and limitations of ambient backscatter communications systems are discussed. Additionally, emerging applications of ambient backscatter communications are highlighted. Finally, we outline some open issues and future research directions.

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Ambient Backscatter Communications: A Contemporary Survey

WiFi localization, the task of determining the physical location of a mobile device from wireless signal strengths, has been shown to be an accurate method of indoor and outdoor localization and a powerful building block for location-aware applications. However, most localization techniques require a training set of signal strength readings labeled against a ground truth location map, which is prohibitive to collect and maintain as maps grow large. In this paper we propose a novel technique for solving the WiFi SLAM problem using the Gaussian Process Latent Variable Model (GPLVM) to determine the latent-space locations of unlabeled signal strength data. We show how GPLVM, in combination with an appropriate motion dynamics model, can be used to reconstruct a topological connectivity graph from a signal strength sequence which, in combination with the learned Gaussian Process signal strength model, can be used to perform efficient localization.

WiFi-SLAM Using G aussian Process Latent Variable Models

This paper demonstrates accurate human pose estimation through walls and occlusions. We leverage the fact that wireless signals in the WiFi frequencies traverse walls and reflect off the human body. We introduce a deep neural network approach that parses such radio signals to estimate 2D poses. Since humans cannot annotate radio signals, we use state-of-the-art vision model to provide cross-modal supervision. Specifically, during training the system uses synchronized wireless and visual inputs, extracts pose information from the visual stream, and uses it to guide the training process. Once trained, the network uses only the wireless signal for pose estimation. We show that, when tested on visible scenes, the radio-based system is almost as accurate as the vision-based system used to train it. Yet, unlike vision-based pose estimation, the radio-based system can estimate 2D poses through walls despite never trained on such scenarios. Demo videos are available at our website.

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Through-Wall Human Pose Estimation Using Radio Signals

This paper presents the design and implementation of SpotFi, an accurate indoor localization system that can be deployed on commodity WiFi infrastructure. SpotFi only uses information that is already exposed by WiFi chips and does not require any hardware or firmware changes, yet achieves the same accuracy as state-of-the-art localization systems. SpotFi makes two key technical contributions. First, SpotFi incorporates super-resolution algorithms that can accurately compute the angle of arrival (AoA) of multipath components even when the access point (AP) has only three antennas. Second, it incorporates novel filtering and estimation techniques to identify AoA of direct path between the localization target and AP by assigning values for each path depending on how likely the particular path is the direct path. Our experiments in a multipath rich indoor environment show that SpotFi achieves a median accuracy of 40 cm and is robust to indoor hindrances such as obstacles and multipath.

https://dl.acm.org/doi/pdf/10.1145/2785956.2787487

SpotFi: Decimeter Level Localization Using WiFi

We present BackFi, a novel communication system that enables high throughput, long range communication between very low power backscatter devices and WiFi APs using ambient WiFi transmissions as the excitation signal. Specifically, we show that it is possible to design devices and WiFi APs such that the WiFi AP in the process of transmitting data to normal WiFi clients can decode backscatter signals which the devices generate by modulating information on to the ambient WiFi transmission. We show via prototypes and experiments that it is possible to achieve communication rates of up to 5 Mbps at a range of 1 m and 1 Mbps at a range of 5 meters. Such performance is an order to three orders of magnitude better than the best known prior WiFi backscatter system [27,25]. BackFi design is energy efficient, as it relies on backscattering alone and needs insignificant power, hence the energy consumed per bit is small.

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BackFi: High Throughput WiFi Backscatter

Could we build a motion tracing camera using wireless communication signals as the light source? This paper shows we can, we present the design and implementation of WiDeo, a novel system that enables accurate, high resolution, device free human motion tracing in indoor environments using WiFi signals and compact WiFi radios. The insight behind WiDeo is to mine the backscatter reflections from the environment that WiFi transmissions naturally produce to trace where reflecting objects are located and how they are moving. We invent novel backscatter measurement techniques that work in spite of the low bandwidth and dynamic range of WiFi radios, new algorithms that separate out the moving backscatter from the clutter that static reflectors produce and then trace the original motion that produced the backscatter in spite of the fact that it could have undergone multiple reflections. We prototype WiDeo using off-the-shelf software radios and show that it accurately traces motion even when there are multiple independent human motions occurring concurrently (up to 5) with a median error in the traced path of less than 7cm.

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WiDeo: fine-grained device-free motion tracing using RF backscatter

Today, experiencing virtual reality (VR) is a cumbersome experience which either requires dedicated infrastructure like infrared cameras to track the headset and hand-motion controllers (e.g., Oculus Rift, HTC Vive), or provides only 3-DoF (Degrees of Freedom) tracking which severely limits the user experience (e.g., Samsung Gear). To truly enable VR everywhere, we need position tracking to be available as a ubiquitous service. This paper presents WiCapture, a novel approach which leverages commodity WiFi infrastructure, which is ubiquitous today, for tracking purposes. We prototype WiCapture using off-the-shelf WiFi radios and show that it achieves an accuracy of 0.88 cm compared to sophisticated infrared-based tracking systems like the Oculus, while providing much higher range, resistance to occlusion, ubiquity and ease of deployment.

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Position Tracking for Virtual Reality Using Commodity WiFi

As Virtual Reality (VR) Head Mounted Displays (HMD) push the boundaries of technology, in this paper, we try and answer the question, "What would it take to make the visual experience of a VR-HMD Life-Like, i.e., indistinguishable from physical reality?" Based on the limits of human perception, we first try and establish the specifications for a Life-Like HMD. We then examine crucial technological trends and speculate on the feasibility of Life-Like VR headsets in the near future. Our study indicates that while display technology will be capable of Life-Like VR, rendering computation is likely to be the key bottleneck. Life-Like VR solutions will likely involve frames rendered on a separate machine and then transmitted to the HMD. Can we transmit Life-Like VR frames wirelessly to the HMD and make the HMD cable-free? We find that current wireless and compression technology may not be sufficient to accommodate the bandwidth and latency requirements. We outline research directions towards achieving Life-Like VR.

Manikanta Kotaru

Papers

SpotFi: Decimeter Level Localization Using WiFi

BackFi: High Throughput WiFi Backscatter

WiDeo: fine-grained device-free motion tracing using RF backscatter

Position Tracking for Virtual Reality Using Commodity WiFi

Creating the Perfect Illusion: What will it take to Create Life-Like Virtual Reality Headsets?