{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,2]],"date-time":"2025-12-02T19:52:05Z","timestamp":1764705125681,"version":"3.46.0"},"reference-count":58,"publisher":"Association for Computing Machinery (ACM)","issue":"4","content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["Proc. ACM Interact. Mob. Wearable Ubiquitous Technol."],"published-print":{"date-parts":[[2025,12,2]]},"abstract":"<jats:p>WiFi sensing has attracted significant attention over the past decade for its potential to enable ubiquitous human activity monitoring. While prior approaches primarily rely on stationary transceivers, this paper is the first to investigate the feasibility of WiFi sensing on mobile robots. We introduce CornerSense, a new framework that empowers mobile robots to leverage their WiFi interfaces for detecting human proximity around corners, effectively addressing the non-line-of-sight challenges commonly encountered by traditional robotic sensors such as cameras and LiDAR. Our analysis demonstrates that the design of CornerSense fundamentally differs from, and is more challenging than, conventional WiFi sensing with stationary transceivers. In particular, the intertwined movement of the robot and nearby humans complicates the isolation of human-induced signal variations, which is critical for accurate proximity detection. To address this challenge, CornerSense develops a virtual path-augmented, two-stage dominant path extraction approach based on principal component analysis (PCA). In the first stage, through strategically introducing a virtual path, CornerSense extracts a reference path that incorporates only the robot's motion by applying PCA on the power of the virtual path-augmented channel state information (aug-CSI). During the second stage, the reference path is first subtracted from the aug-CSI. This subtraction allows for a second application of PCA to the power of the residual aug-CSI, thereby enabling the extraction of another distinct dominant path that is reflected off the human body before arriving at the robot. This path is referred to as the dominant human-reflected path. Finally, the reference path extracted in the first stage is employed to compensate for the hardware-induced phase offset in the dominant human-reflected path, yielding cleaned CSI ready for accurate and robust detection of human proximity. Real-world experimental evaluations conducted across nine different corners in three groups and under four distinct human walking patterns reveal that CornerSense achieves an average true positive rate (TPR) of 96% while maintaining a low average false positive rate (FPR) of 3%. In contrast, a baseline system that directly applies an algorithm intended for stationary transceiver-based proximity sensing only reaches a TPR of 84% and suffers from a markedly higher FPR of 46%, which is over an order of magnitude higher than that of CornerSense.<\/jats:p>","DOI":"10.1145\/3770699","type":"journal-article","created":{"date-parts":[[2025,12,2]],"date-time":"2025-12-02T19:42:32Z","timestamp":1764704552000},"page":"1-37","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["CornerSense: Virtual Path-Augmented WiFi Sensing for Human Proximity Detection Around Corners on Mobile Robots"],"prefix":"10.1145","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2904-5336","authenticated-orcid":false,"given":"Jing","family":"He","sequence":"first","affiliation":[{"name":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1870-3727","authenticated-orcid":false,"given":"Rui","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Electronics and Information Engineering, Shenzhen University, Shenzhen, Guangdong, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-7682-7810","authenticated-orcid":false,"given":"Qijia","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-5367-1956","authenticated-orcid":false,"given":"Ruiqi","family":"Kong","sequence":"additional","affiliation":[{"name":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8886-9680","authenticated-orcid":false,"given":"He","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"}]}],"member":"320","published-online":{"date-parts":[[2025,12,2]]},"reference":[{"key":"e_1_2_1_1_1","unstructured":"2024. Wireless InSite\u00ae 3D Wireless Propagation Software. https:\/\/www.remcom.com\/wireless-insite-propagation-software Accessed: 2024-03-14."},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/INFOCOM.2015.7218525"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/2486001.2486039"},{"key":"e_1_2_1_4_1","unstructured":"AgileX Robotics Ltd. 2020. SCOUT Mini. https:\/\/www.agilex.ai\/chassis\/11. Accessed: 2020-07-24."},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/RADAR.2018.8378778"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3144796"},{"key":"e_1_2_1_7_1","volume-title":"17th USENIX Symposium on Networked Systems Design and Implementation (NSDI 20)","author":"Ayyalasomayajula Roshan","year":"2020","unstructured":"Roshan Ayyalasomayajula, Aditya Arun, Chenfeng Wu, Anees Shaikh, Shrivatsan Rajagopalan, Yige Hu, Shreya Ganesaraman, Christopher J Rossbach, Aravind Seetharaman, Emmett Witchel, et al. 2020. {LocAP}: Autonomous millimeter accurate mapping of {WiFi} infrastructure. In 17th USENIX Symposium on Networked Systems Design and Implementation (NSDI 20). 1115\u20131129."},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/3372224.3380894"},{"key":"e_1_2_1_9_1","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1098\/rstl.1815.0010","article-title":"IX. On the laws which regulate the polarisation of light by reflexion from transparent bodies. By David Brewster, LL. DFRS Edin. and FSA Edin. In a letter addressed to Right Hon. Sir Joseph Banks","volume":"105","author":"Brewster David","year":"1815","unstructured":"David Brewster. 1815. IX. On the laws which regulate the polarisation of light by reflexion from transparent bodies. By David Brewster, LL. DFRS Edin. and FSA Edin. In a letter addressed to Right Hon. Sir Joseph Banks, Bart. KBPR S. Philosophical Transactions of the Royal Society of London 105 (1815), 125\u2013159.","journal-title":"Bart. KBPR S. Philosophical Transactions of the Royal Society of London"},{"key":"e_1_2_1_10_1","volume-title":"MSense: Boosting Wireless Sensing Capability Under Motion Interference. In The 30th Annual International Conference on Mobile Computing and Networking (ACM MobiCom'24)","author":"Chang Zhaoxin","year":"2024","unstructured":"Zhaoxin Chang, Fusang Zhang, Jie Xiong, Weiyan Chen, and Daqing Zhang. 2024. MSense: Boosting Wireless Sensing Capability Under Motion Interference. In The 30th Annual International Conference on Mobile Computing and Networking (ACM MobiCom'24)."},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2017.1700081"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2018.2878233"},{"key":"e_1_2_1_13_1","volume-title":"Lap Mou Tam, and Qingsong Xu.","author":"Chio Iong","year":"2022","unstructured":"Iong Chio, Kaicheng Ruan, Zehao Wu, Kit Iong Wong, Lap Mou Tam, and Qingsong Xu. 2022. Design and autonomous navigation of a new indoor disinfection robot based on disinfection modeling. IEEE transactions on automation science and engineering 20, 1 (2022), 649\u2013661."},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42486-020-00027-1"},{"key":"e_1_2_1_15_1","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1016\/j.scijus.2021.11.002","article-title":"Applications of drone in disaster management: A scoping review","volume":"62","author":"Chainchel Singh Mansharan Kaur","year":"2022","unstructured":"Sharifah Mastura Syed Mohd Daud, Mohd Yusmiaidil Putera Mohd Yusof, Chong Chin Heo, Lay See Khoo, Mansharan Kaur Chainchel Singh, Mohd Shah Mahmood, and Hapizah Nawawi. 2022. Applications of drone in disaster management: A scoping review. Science & Justice 62, 1 (2022), 30\u201342.","journal-title":"Science & Justice"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.3390\/s20072068"},{"key":"e_1_2_1_17_1","doi-asserted-by":"crossref","unstructured":"Albert Einstein et al. 1905. On the electrodynamics of moving bodies. Annalen der physik 17 10 (1905) 891\u2013921.","DOI":"10.1002\/andp.19053221004"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3360773.3360879"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1145\/1925861.1925870"},{"key":"e_1_2_1_20_1","doi-asserted-by":"crossref","first-page":"103949","DOI":"10.1016\/j.robot.2021.103949","article-title":"Enhanced ant colony algorithm with communication mechanism for mobile robot path planning","volume":"148","author":"Hou Wenbin","year":"2022","unstructured":"Wenbin Hou, Zhihua Xiong, Changsheng Wang, and Howard Chen. 2022. Enhanced ant colony algorithm with communication mechanism for mobile robot path planning. Robotics and Autonomous Systems 148 (2022), 103949.","journal-title":"Robotics and Autonomous Systems"},{"key":"e_1_2_1_21_1","volume-title":"Chenshu Wu, Feng Zhang, and KJ Ray Liu.","author":"Hu Yuqian","year":"2022","unstructured":"Yuqian Hu, Muhammed Zahid Ozturk Beibei Wang, Chenshu Wu, Feng Zhang, and KJ Ray Liu. 2022. Robust Passive Proximity Detection using Wi-Fi. IEEE Internet of Things Journal (2022)."},{"key":"e_1_2_1_22_1","volume-title":"ICASSP 2021-2021 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). IEEE, 7918\u20137922","author":"Hu Yuqian","year":"2021","unstructured":"Yuqian Hu, M Zahid Ozturk, Feng Zhang, Beibei Wang, and KJ Ray Liu. 2021. Robust device-free proximity detection using wifi. In ICASSP 2021-2021 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). IEEE, 7918\u20137922."},{"key":"e_1_2_1_23_1","first-page":"11","article-title":"A wireless signal-based sensing framework for robotics","volume":"41","author":"Jadhav Ninad","year":"2022","unstructured":"Ninad Jadhav, Weiying Wang, Diana Zhang, Oussama Khatib, Swarun Kumar, and Stephanie Gil. 2022. A wireless signal-based sensing framework for robotics. The International Journal of Robotics Research 41, 11\u201312 (2022), 955\u2013992.","journal-title":"The International Journal of Robotics Research"},{"key":"e_1_2_1_24_1","doi-asserted-by":"crossref","first-page":"122204","DOI":"10.1007\/s11432-020-3073-5","article-title":"Human guided cooperative robotic agents in smart home using beetle antennae search","volume":"65","author":"Khan Ameer Tamoor","year":"2022","unstructured":"Ameer Tamoor Khan, Shuai Li, and Xinwei Cao. 2022. Human guided cooperative robotic agents in smart home using beetle antennae search. Science China Information Sciences 65, 2 (2022), 122204.","journal-title":"Science China Information Sciences"},{"key":"e_1_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1145\/2785956.2787487"},{"key":"e_1_2_1_26_1","first-page":"1","article-title":"Detection of human breathing in non-line-of-sight region by using mmWave FMCW radar","volume":"71","author":"Li Gen","year":"2022","unstructured":"Gen Li, Yun Ge, Yiyu Wang, Qingwu Chen, and Gang Wang. 2022. Detection of human breathing in non-line-of-sight region by using mmWave FMCW radar. IEEE Transactions on Instrumentation and Measurement 71 (2022), 1\u201311.","journal-title":"IEEE Transactions on Instrumentation and Measurement"},{"key":"e_1_2_1_27_1","first-page":"6868","article-title":"Passive multiuser gait identification through micro-Doppler calibration using mmWave radar","volume":"11","author":"Li Jincheng","year":"2023","unstructured":"Jincheng Li, Binbin Li, Lin Wang, and Wenyuan Liu. 2023. Passive multiuser gait identification through micro-Doppler calibration using mmWave radar. IEEE Internet of Things Journal 11, 4 (2023), 6868\u20136877.","journal-title":"IEEE Internet of Things Journal"},{"key":"e_1_2_1_28_1","doi-asserted-by":"crossref","first-page":"2110534","DOI":"10.1002\/adfm.202110534","article-title":"Thermal camouflaging MXene robotic skin with bio-inspired stimulus sensation and wireless communication","volume":"32","author":"Li Kerui","year":"2022","unstructured":"Kerui Li, Zhipeng Li, Ze Xiong, Yingxi Wang, Haitao Yang, Wenxin Xu, Lin Jing, Meng Ding, Jian Zhu, John S Ho, et al. 2022. Thermal camouflaging MXene robotic skin with bio-inspired stimulus sensation and wireless communication. Advanced Functional Materials 32, 23 (2022), 2110534.","journal-title":"Advanced Functional Materials"},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1049\/iet-wss.2018.5113"},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1049\/iet-com.2016.0562"},{"key":"e_1_2_1_31_1","doi-asserted-by":"crossref","first-page":"283","DOI":"10.1007\/s00345-021-03809-z","article-title":"Market potentials of robotic systems in medical science: analysis of the Avatera robotic system","volume":"40","author":"Liatsikos Evangelos","year":"2022","unstructured":"Evangelos Liatsikos, Arman Tsaturyan, Iason Kyriazis, Panagiotis Kallidonis, Dimitris Manolopoulos, and Anastasios Magoutas. 2022. Market potentials of robotic systems in medical science: analysis of the Avatera robotic system. World Journal of Urology 40, 1 (2022), 283\u2013289.","journal-title":"World Journal of Urology"},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/3310194"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/0098-3004(93)90090-R"},{"key":"e_1_2_1_34_1","volume-title":"Ilenia Tinnirello, and Michele Rossi.","author":"Meneghello Francesca","year":"2022","unstructured":"Francesca Meneghello, Domenico Garlisi, Nicol\u00f2 Dal Fabbro, Ilenia Tinnirello, and Michele Rossi. 2022. Sharp: Environment and person independent activity recognition with commodity ieee 802.11 access points. IEEE Transactions on Mobile Computing (2022)."},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2023.3289547"},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3207665"},{"key":"e_1_2_1_37_1","volume-title":"Paul HJ Kelly, and Andrew J Davison","author":"Murai Riku","year":"2023","unstructured":"Riku Murai, Joseph Ortiz, Sajad Saeedi, Paul HJ Kelly, and Andrew J Davison. 2023. A robot web for distributed many-device localisation. IEEE Transactions on Robotics (2023)."},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2022.3155523"},{"key":"e_1_2_1_39_1","first-page":"1","article-title":"The double Brewster angle effect","volume":"19","author":"Thirion-Lefevre Laetitia","year":"2018","unstructured":"Laetitia Thirion-Lefevre and R\u00e9gis Guinvarc'h. 2018. The double Brewster angle effect. Comptes Rendus. Physique 19, 1\u20132 (2018), 43\u201353.","journal-title":"Comptes Rendus. Physique"},{"key":"e_1_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/3328918"},{"key":"e_1_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1145\/2971648.2971670"},{"key":"e_1_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/2789168.2790093"},{"key":"e_1_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2017.2679658"},{"key":"e_1_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2016.2557792"},{"key":"e_1_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2018.1700144"},{"key":"e_1_2_1_46_1","volume-title":"Indoor positioning based on walking-surveyed Wi-Fi fingerprint and corner reference trajectory-geomagnetic database","author":"Wu Yuan","year":"2021","unstructured":"Yuan Wu, Ruizhi Chen, Wei Li, Yue Yu, Haitao Zhou, and Ke Yan. 2021. Indoor positioning based on walking-surveyed Wi-Fi fingerprint and corner reference trajectory-geomagnetic database. IEEE sensors journal 21, 17 (2021), 18964\u201318977."},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/3264953"},{"key":"e_1_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1145\/3161415"},{"key":"e_1_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2019.2938245"},{"key":"e_1_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1145\/3517226"},{"key":"e_1_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1145\/3570361.3613305"},{"key":"e_1_2_1_52_1","volume-title":"Proceedings of the 28th Annual International Conference on Mobile Computing And Networking. 268\u2013281","author":"Zhang Fusang","year":"2022","unstructured":"Fusang Zhang, Jie Xiong, Zhaoxin Chang, Junqi Ma, and Daqing Zhang. 2022. Mobi2Sense: empowering wireless sensing with mobility. In Proceedings of the 28th Annual International Conference on Mobile Computing And Networking. 268\u2013281."},{"key":"e_1_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.3390\/s17040727"},{"key":"e_1_2_1_54_1","doi-asserted-by":"crossref","first-page":"6662","DOI":"10.1109\/ACCESS.2019.2962813","article-title":"WiVi: A ubiquitous violence detection system with commercial WiFi devices","volume":"8","author":"Zhang Lei","year":"2019","unstructured":"Lei Zhang, Xin Ruan, and Ju Wang. 2019. WiVi: A ubiquitous violence detection system with commercial WiFi devices. IEEE Access 8 (2019), 6662\u20136672.","journal-title":"IEEE Access"},{"key":"e_1_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2019.2953488"},{"key":"e_1_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2021.3052314"},{"key":"e_1_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2017.2762428"},{"key":"e_1_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1109\/TWC.2015.2448540"}],"container-title":["Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3770699","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,2]],"date-time":"2025-12-02T19:47:49Z","timestamp":1764704869000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3770699"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,2]]},"references-count":58,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2025,12,2]]}},"alternative-id":["10.1145\/3770699"],"URL":"https:\/\/doi.org\/10.1145\/3770699","relation":{},"ISSN":["2474-9567"],"issn-type":[{"value":"2474-9567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,12,2]]},"assertion":[{"value":"2025-12-02","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}