{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T09:52:39Z","timestamp":1762509159636,"version":"3.41.0"},"publisher-location":"New York, NY, USA","reference-count":59,"publisher":"ACM","license":[{"start":{"date-parts":[[2024,6,3]],"date-time":"2024-06-03T00:00:00Z","timestamp":1717372800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,6,3]]},"DOI":"10.1145\/3643832.3661895","type":"proceedings-article","created":{"date-parts":[[2024,6,4]],"date-time":"2024-06-04T17:14:23Z","timestamp":1717521263000},"page":"561-574","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["WAIS: Leveraging WiFi for Resource-Efficient SLAM"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5686-0179","authenticated-orcid":false,"given":"Aditya","family":"Arun","sequence":"first","affiliation":[{"name":"University of California San Diego, San Diego, California, United States of America"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-9973-4132","authenticated-orcid":false,"given":"William","family":"Hunter","sequence":"additional","affiliation":[{"name":"University of California San Diego, San Diego, California, United States of America"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4069-8429","authenticated-orcid":false,"given":"Roshan","family":"Ayyalasomayajula","sequence":"additional","affiliation":[{"name":"University at Buffalo, Buffalo, New York, United States of America"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3518-4722","authenticated-orcid":false,"given":"Dinesh","family":"Bharadia","sequence":"additional","affiliation":[{"name":"UCSD, San Diego, California, United States of America"}]}],"member":"320","published-online":{"date-parts":[[2024,6,4]]},"reference":[{"key":"e_1_3_2_1_1_1","unstructured":"2021. High density wi-fi deployments. https:\/\/documentation.meraki.com\/Architectures_and_Best_Practices\/Cisco_Meraki_Bestt_Practice_Designign\/Best_Practice_Design_-_MR_Wireless\/High_Density_Wi-Fi_Deployments."},{"key":"e_1_3_2_1_2_1","unstructured":"Fawad Ahmad Hang Qiu Ray Eells Fan Bai and Ramesh Govindan. 2020. CarMap: Fast 3D Feature Map Updates for Automobiles.. In NSDI. 1063--1081."},{"key":"e_1_3_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.3390\/s21041243"},{"key":"e_1_3_2_1_4_1","volume-title":"P2SLAM: Bearing based WiFi SLAM for Indoor Robots","author":"Arun Aditya","year":"2022","unstructured":"Aditya Arun, Roshan Ayyalasomayajula, William Hunter, and Dinesh Bharadia. 2022. P2SLAM: Bearing based WiFi SLAM for Indoor Robots. IEEE Robotics and Automation Letters (2022)."},{"key":"e_1_3_2_1_5_1","unstructured":"ASUS. 2022. Asus RT-AC86U router. https:\/\/www.asus.com\/us\/networking-iot-servers\/wifi-routers\/asus-wifi-routers\/rt-ac86u\/ journal=ASUS USA."},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1145\/3372224.3380894"},{"key":"e_1_3_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/3281411.3281428"},{"key":"e_1_3_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/3561972"},{"key":"e_1_3_2_1_9_1","volume-title":"FuseBot: RF-Visual Mechanical Search","author":"Boroushaki Tara","year":"2022","unstructured":"Tara Boroushaki, Laura Dodds, Nazish Naeem, and Fadel Adib. 2022. FuseBot: RF-Visual Mechanical Search. Robotics: Science and Systems 2022 (2022)."},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/3498361.3538936"},{"key":"e_1_3_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461155"},{"key":"e_1_3_2_1_12_1","unstructured":"IEEE Computer Society LAN\/MAN Standards Committee et al. 2007. IEEE Standard for Information technology-Telecommunications and information exchange between systems-Local and metropolitan area networks-Specific requirements Part 11: Wireless LAN Medium Access Control (MAC) and Physical Layer (PHY) Specifications. IEEE Std 802.11\u02c6 (2007)."},{"key":"e_1_3_2_1_13_1","first-page":"2480","article-title":"Wifi-slam using gaussian process latent variable models","volume":"7","author":"Ferris Brian","year":"2007","unstructured":"Brian Ferris, Dieter Fox, and Neil D Lawrence. 2007. Wifi-slam using gaussian process latent variable models.. In IJCAI, Vol. 7. 2480--2485.","journal-title":"IJCAI"},{"key":"e_1_3_2_1_14_1","unstructured":"Raspberry Pi Foundation. [n. d.]. Teach learn and make with the Raspberry Pi Foundation. https:\/\/www.raspberrypi.org\/"},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2018.2860018"},{"key":"e_1_3_2_1_16_1","unstructured":"VMW Research Group. 2023. The GFLOPS\/W of the various machines in the VMW Research Group. https:\/\/web.eece.maine.edu\/~vweaver\/group\/green_machines.html Accessed: 2023-11-29."},{"key":"e_1_3_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-019-09874-z"},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487258"},{"key":"e_1_3_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979643"},{"key":"e_1_3_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3070302"},{"key":"e_1_3_2_1_21_1","volume-title":"2012 15th International Conference on Information Fusion. IEEE, 2154--2161","author":"Indelman Vadim","year":"2012","unstructured":"Vadim Indelman, Stephen Williams, Michael Kaess, and Frank Dellaert. 2012. Factor graph based incremental smoothing in inertial navigation systems. In 2012 15th International Conference on Information Fusion. IEEE, 2154--2161."},{"key":"e_1_3_2_1_22_1","volume-title":"WSR: A WiFi sensor for collaborative robotics. arXiv preprint arXiv:2012.04174","author":"Jadhav Ninad","year":"2020","unstructured":"Ninad Jadhav, Weiying Wang, Diana Zhang, Oussama Khatib, Swarun Kumar, and Stephanie Gil. 2020. WSR: A WiFi sensor for collaborative robotics. arXiv preprint arXiv:2012.04174 (2020)."},{"key":"e_1_3_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/IPIN.2018.8533827"},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911430419"},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"crossref","unstructured":"Carl T Kelley. 1999. Iterative methods for optimization. SIAM.","DOI":"10.1137\/1.9781611970920"},{"key":"e_1_3_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593953"},{"key":"e_1_3_2_1_27_1","doi-asserted-by":"crossref","unstructured":"Manikanta Kotaru Kiran Joshi Dinesh Bharadia and Sachin Katti. 2015. SpotFi: Decimeter Level Localization Using Wi-Fi (SIGCOMM).","DOI":"10.1145\/2785956.2787487"},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"crossref","unstructured":"M. Labb\u00e9. 2018. RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation.","DOI":"10.1002\/rob.21831"},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2894852"},{"key":"e_1_3_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2019.2957293"},{"key":"e_1_3_2_1_31_1","unstructured":"Bruce D Lucas Takeo Kanade et al. 1981. An iterative image registration technique with an application to stereo vision. Vol. 81. Vancouver."},{"volume-title":"NSDI.","author":"Luo Zhihong","key":"e_1_3_2_1_32_1","unstructured":"Zhihong Luo, Qiping Zhang, Yunfei Ma, Manish Singh, and Fadel Adib. 2019. 3D backscatter localization for fine-grained robotics. In NSDI. Boston, Massachusetts, 765--782."},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/3098822.3098847"},{"key":"e_1_3_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1145\/3310194"},{"key":"e_1_3_2_1_35_1","volume-title":"On-site autonomous construction robots: Towards unsupervised building. Automation in construction 119","author":"Melenbrink Nathan","year":"2020","unstructured":"Nathan Melenbrink, Justin Werfel, and Achim Menges. 2020. On-site autonomous construction robots: Towards unsupervised building. Automation in construction 119 (2020), 103312."},{"key":"e_1_3_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/IPIN.2013.6817853"},{"key":"e_1_3_2_1_37_1","volume-title":"Jose Maria Martinez Montiel, and Juan D Tardos","author":"Mur-Artal Raul","year":"2015","unstructured":"Raul Mur-Artal, Jose Maria Martinez Montiel, and Juan D Tardos. 2015. ORBSLAM: a versatile and accurate monocular SLAM system. IEEE transactions on robotics 31, 5 (2015), 1147--1163."},{"key":"e_1_3_2_1_38_1","volume-title":"Thien Hoang Nguyen, and Lihua Xie","author":"Nguyen Thien-Minh","year":"2021","unstructured":"Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao, Thien Hoang Nguyen, and Lihua Xie. 2021. VIRAL SLAM: Tightly Coupled Camera-IMU-UWB-Lidar SLAM. arXiv preprint arXiv:2105.03296 (2021)."},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"e_1_3_2_1_41_1","unstructured":"Raspberry Pi Ltd. 2023. Raspberry Pi 5. Raspberry Pi Ltd. https:\/\/datasheets.raspberrypi.com\/rpi5\/raspberry-pi-5-product-brief.pdf."},{"key":"e_1_3_2_1_42_1","volume-title":"Voxgraph: Globally Consistent, Volumetric Mapping Using Signed Distance Function Submaps","author":"Reijgwart V.","year":"2020","unstructured":"V. Reijgwart, A. Millane, H. Oleynikova, R. Siegwart, C. Cadena, and J. Nieto. 2020. Voxgraph: Globally Consistent, Volumetric Mapping Using Signed Distance Function Submaps. IEEE Robotics and Automation Letters (2020)."},{"key":"e_1_3_2_1_43_1","volume-title":"Autonomous Last Mile Delivery Market by Platform - Global Forecasts 2021 to","author":"Research All The","year":"2027","unstructured":"All The Research. Oct 2021. Autonomous Last Mile Delivery Market by Platform - Global Forecasts 2021 to 2027. https:\/\/www.alltheresearch.com\/report\/787\/autonomous-last-mile-delivery-market Accessed: 2022-03-23."},{"key":"e_1_3_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211056674"},{"key":"e_1_3_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2843325"},{"key":"e_1_3_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/IPIN.2019.8911778"},{"key":"e_1_3_2_1_48_1","volume-title":"Nexmon: The C-based Firmware Patching Framework. https:\/\/nexmon.org.","author":"Schulz Matthias","year":"2017","unstructured":"Matthias Schulz, Daniel Wegemer, and Matthias Hollick. 2017. Nexmon: The C-based Firmware Patching Framework. https:\/\/nexmon.org."},{"key":"e_1_3_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1145\/3508396.3512882"},{"key":"e_1_3_2_1_50_1","volume-title":"LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 4758--4765","author":"Shan Tixiao","year":"2018","unstructured":"Tixiao Shan and Brendan Englot. 2018. LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 4758--4765."},{"key":"e_1_3_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSSC.2018.2886342"},{"key":"e_1_3_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNET.2017.2747583"},{"key":"e_1_3_2_1_53_1","volume-title":"Wi-Closure: Reliable and Efficient Search of Inter-robot Loop Closures Using Wireless Sensing. arXiv preprint arXiv:2210.01320","author":"Wang Weiying","year":"2022","unstructured":"Weiying Wang, Anne Kemmeren, Daniel Son, Javier Alonso-Mora, and Stephanie Gil. 2022. Wi-Closure: Reliable and Efficient Search of Inter-robot Loop Closures Using Wireless Sensing. arXiv preprint arXiv:2210.01320 (2022)."},{"key":"e_1_3_2_1_54_1","unstructured":"Jie Xiong and Kyle Jamieson. 2013. ArrayTrack: A Fine-grained Indoor Location System (NSDI)."},{"key":"e_1_3_2_1_55_1","volume-title":"LOAM: Lidar odometry and mapping in real-time. In Robotics: Science and systems","author":"Zhang Ji","year":"2014","unstructured":"Ji Zhang and Sanjiv Singh. 2014. LOAM: Lidar odometry and mapping in real-time. In Robotics: Science and systems, Vol. 2. Berkeley, CA, 1--9."},{"key":"e_1_3_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1109\/TWC.2020.2997393"},{"key":"e_1_3_2_1_57_1","volume-title":"Parameter estimation techniques: A tutorial with application to conic fitting. Image and vision Computing 15, 1","author":"Zhang Zhengyou","year":"1997","unstructured":"Zhengyou Zhang. 1997. Parameter estimation techniques: A tutorial with application to conic fitting. Image and vision Computing 15, 1 (1997), 59--76."},{"key":"e_1_3_2_1_58_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3478124","article-title":"ULoc: Low-Power, Scalable and cm-Accurate UWB-Tag Localization and Tracking for Indoor Applications","volume":"5","author":"Zhao Minghui","year":"2021","unstructured":"Minghui Zhao, Tyler Chang, Aditya Arun, Roshan Ayyalasomayajula, Chi Zhang, and Dinesh Bharadia. 2021. ULoc: Low-Power, Scalable and cm-Accurate UWB-Tag Localization and Tracking for Indoor Applications. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 5, 3 (2021), 1--31.","journal-title":"Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies"},{"key":"e_1_3_2_1_59_1","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2020.2979413"}],"event":{"name":"MOBISYS '24: 22nd Annual International Conference on Mobile Systems, Applications and Services","sponsor":["SIGMOBILE ACM Special Interest Group on Mobility of Systems, Users, Data and Computing","SIGOPS ACM Special Interest Group on Operating Systems"],"location":"Minato-ku, Tokyo Japan","acronym":"MOBISYS '24"},"container-title":["Proceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3643832.3661895","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3643832.3661895","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T00:03:07Z","timestamp":1750291387000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3643832.3661895"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,6,3]]},"references-count":59,"alternative-id":["10.1145\/3643832.3661895","10.1145\/3643832"],"URL":"https:\/\/doi.org\/10.1145\/3643832.3661895","relation":{},"subject":[],"published":{"date-parts":[[2024,6,3]]},"assertion":[{"value":"2024-06-04","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}