3D Portable Mapping System to Build Radio Fingerprints and Spatial Map

This paper presents a portable mapping system that is able to simultaneously build the radio fingerprints and spatial structure map requires for pedestrian location-based service (LBS) using 3D simultaneous localization and mapping (SLAM). The system is divided into hardware and software. The hardware is designed in the form of a backpack equipped with a 3D LiDAR, a smartphone, and a processing board. The software synchronizes the sensor information, estimates the global position based on 3D SLAM, and extracts the radio fingerprints and spatial map. To verify the proposed method, the backpack mapping system equipped with the 3D LiDAR and the smartphone was produced as a prototype. Finally, the experiment was conducted in a large-scale indoor environment, and its results confirmed the applicability of the proposed method in the real fields.