3-D Reflector Mapping Using Sensor Network

Abstract

Many indoor localization and navigation systems require the information of the wall layout. The paper proposes a 3-D wall mapping algorithm using arbitrarily placed nodes. The proposed algorithm estimates the normal vector of the reflector surface and the scaling factor of the translation vector. The constrained CRLB of the reflector parameters is derived. The performance of the wall mapping algorithm is examined by comparing the MSE with the constrained Cramer-Rao lower bound (CRLB).