Indoor map generation using radio frequency sensing
Disclosed are systems and techniques for performing mapping using radio frequency (RF) sensing. For instance, a server can obtain a first set of RF sensing data and orientation data corresponding to a first wireless device from a plurality of wireless devices. The first set of RF sensing data can be associated with at least one received waveform that is a reflection of a transmitted waveform from a first reflector. Based on the first set of RF sensing data, orientation data, and location data corresponding to the first wireless device, an indoor map can be generated that includes a reference to the reflector.
1. An apparatus for indoor mapping, comprising:
at least one memory;
at least one transceiver; and
at least one processor coupled to the at least one memory and the at least one transceiver, the at least one processor configured to:
transmit, via the at least one transceiver, a radio frequency (RF) signal;
receive, via the at least one transceiver, a plurality of reflected RF signals that are each a reflection of the transmitted RF signal from at least one object in an indoor space;
obtain RF sensing data for the plurality of reflected RF signals from the at least one object; and
present an indoor map for the indoor space that includes a reference to the at least one object, wherein the reference to the at least one object is based on the RF sensing data.
2. The apparatus of claim 1 , wherein the at least one processor is configured to:
transmit, via the at least one transceiver to a server device, the RF sensing data, device location data, and device orientation data.
3. The apparatus of claim 2 , wherein the at least one processor is configured to:
receive, from the server device, the indoor map for the indoor space that includes the reference to the at least one object.
4. The apparatus of claim 1 , wherein the at least one processor is configured to:
calculate, based on the RF sensing data, device location data, and device orientation data, a distance and an angle of arrival between the apparatus and the at least one object.
5. The apparatus of claim 4 , wherein the device location data is based on the RF sensing data.
6. The apparatus of claim 1 , wherein the at least one processor is configured to:
download, from a server device, a partial indoor map for the indoor space; and
modify the partial indoor map for the indoor space to include the reference to the at least one object.
7. The apparatus of claim 6 , wherein the at least one processor is configured to:
transmit, via the at least one transceiver to the server device, the modified partial indoor map that includes the reference to the at least one object.
8. The apparatus of claim 1 , wherein the RF signal comprises at least one of a Wi-Fi signal, a New Radio (NR) signal, a RADAR signal, an Ultra-wideband (UWB) signal, or any combination thereof.
9. The apparatus of claim 1 , wherein the RF sensing data comprises channel state information (CSI) data.
10. A method of indoor mapping performed at a wireless device, comprising:
transmitting a radio frequency (RF) signal;
receiving a plurality of reflected RF signals that are each a reflection of the transmitted RF signal from at least one object in an indoor space;
obtaining RF sensing data for the plurality of reflected RF signals from the at least one object; and
presenting an indoor map for the indoor space that includes a reference to the at least one object, wherein the reference to the at least one object is based on the RF sensing data.
11. The method of claim 10 , further comprising:
transmitting, to a server device, the RF sensing data, device location data, and device orientation data.
12. The method of claim 11 , further comprising:
receiving, from the server device, the indoor map for the indoor space that includes the reference to the at least one object.
13. The method of claim 10 , further comprising:
calculating, based on the RF sensing data, device location data, and device orientation data, a distance and an angle of arrival between the wireless device and the at least one object.
14. The method of claim 13 , wherein the device location data is based on the RF sensing data.
15. The method of claim 10 , further comprising:
downloading, from a server device, a partial indoor map for the indoor space; and
modifying the partial indoor map for the indoor space to include the reference to the at least one object.
16. The method of claim 15 , further comprising:
transmitting, to the server device, the modified partial indoor map that includes the reference to the at least one object.
17. The method of claim 10 , wherein the RF signal comprises at least one of a Wi-Fi signal, a New Radio (NR) signal, a RADAR signal, an Ultra-wideband (UWB) signal, or any combination thereof.
18. The method of claim 10 , wherein the RF sensing data comprises channel state information (CSI) data.
19. A non-transitory computer-readable medium of a wireless device comprising at least one instruction for causing a computer or processor to:
transmit, via at least one transceiver, a radio frequency (RF) signal;
receive, via the at least one transceiver, a plurality of reflected RF signals that are each a reflection of the transmitted RF signal from at least one object in an indoor space;
obtain RF sensing data for the plurality of reflected RF signals from the at least one object; and
present an indoor map for the indoor space that includes a reference to the at least one object, wherein the reference to the at least one object is based on the RF sensing data.
20. The non-transitory computer-readable medium of claim 19 , further comprising at least one instruction for causing the computer or processor to:
transmit, via the at least one transceiver to a server device, the RF sensing data, device location data, and device orientation data.
21. The non-transitory computer-readable medium of claim 20 , further comprising at least one instruction for causing the computer or processor to:
receive, from the server device, the indoor map for the indoor space that includes the reference to the at least one object.
22. The non-transitory computer-readable medium of claim 19 , further comprising at least one instruction for causing the computer or processor to:
calculate, based on the RF sensing data, device location data, and device orientation data, a distance and an angle of arrival between the wireless device and the at least one object.
23. The non-transitory computer-readable medium of claim 22 , wherein the device location data is based on the RF sensing data.
24. The non-transitory computer-readable medium of claim 19 , further comprising at least one instruction for causing the computer or processor to:
download, from a server device, a partial indoor map for the indoor space; and
modify the partial indoor map for the indoor space to include the reference to the at least one object.
25. The non-transitory computer-readable medium of claim 24 , further comprising at least one instruction for causing the computer or processor to:
transmit, via the at least one transceiver to the server device, the modified partial indoor map that includes the reference to the at least one object.
26. The non-transitory computer-readable medium of claim 19 , wherein the RF signal comprises at least one of a Wi-Fi signal, a New Radio (NR) signal, a RADAR signal, an Ultra-wideband (UWB) signal, or any combination thereof.
27. The non-transitory computer-readable medium of claim 19 , wherein the RF sensing data comprises channel state information (CSI) data.
28. An apparatus for indoor mapping, comprising:
means for transmitting a radio frequency (RF) signal;
means for receiving a plurality of reflected RF signals that are each a reflection of the transmitted RF signal from at least one object in an indoor space;
means for obtaining RF sensing data for the plurality of reflected RF signals from the at least one object; and
means for presenting an indoor map for the indoor space that includes a reference to the at least one object, wherein the reference to the at least one object is based on the RF sensing data.
29. The apparatus of claim 28 , wherein the means for transmitting is configured to:
transmit, to a server device, the RF sensing data, device location data, and device orientation data.
30. The apparatus of claim 29 , wherein the means for receiving is configured to:
receive, from the server device, the indoor map for the indoor space that includes the reference to the at least one object.