# Multimodal Indoor Localization Using Crowdsourced Radio Maps

arXiv: https://arxiv.org/abs/2311.10601 · HTML: https://mlsanity.com/paper/2311.10601/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 38 references that are in the map.
- First posted on arXiv 17 Nov 2023.

## Builds on (most cited first, 11 of 11)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Efficient Estimation of Word Representations in Vector Space](https://mlsanity.com/paper/1301.3781/) (2013)
- [UMAP: Uniform Manifold Approximation and Projection for Dimension Reduction](https://mlsanity.com/paper/1802.03426/) (2018)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping](https://mlsanity.com/paper/2007.00258/) (2020)
- [On the uncertainty of self-supervised monocular depth estimation](https://mlsanity.com/paper/2005.06209/) (2020)
- [Towards Safe Autonomous Driving: Capture Uncertainty in the Deep Neural Network For Lidar 3D Vehicle Detection](https://mlsanity.com/paper/1804.05132/) (2018)
- [STUN: Self-Teaching Uncertainty Estimation for Place Recognition](https://mlsanity.com/paper/2203.01851/) (2022)
- [Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments](https://mlsanity.com/paper/2105.08837/) (2021)
- [Unsupervised Data Uncertainty Learning in Visual Retrieval Systems](https://mlsanity.com/paper/1902.02586/) (2019)

## Abstract (arXiv)

Indoor Positioning Systems (IPS) traditionally rely on odometry and building infrastructures like WiFi, often supplemented by building floor plans for increased accuracy. However, the limitation of floor plans in terms of availability and timeliness of updates challenges their wide applicability. In contrast, the proliferation of smartphones and WiFi-enabled robots has made crowdsourced radio maps - databases pairing locations with their corresponding Received Signal Strengths (RSS) - increasingly accessible. These radio maps not only provide WiFi fingerprint-location pairs but encode movement regularities akin to the constraints imposed by floor plans. This work investigates the possibility of leveraging these radio maps as a substitute for floor plans in multimodal IPS. We introduce a new framework to address the challenges of radio map inaccuracies and sparse coverage. Our proposed system integrates an uncertainty-aware neural network model for WiFi localization and a bespoken Bayesian fusion technique for optimal fusion. Extensive evaluations on multiple real-world sites indicate a significant performance enhancement, with results showing ~ 25% improvement over the best baseline