Abstract
This paper describes a probabilistic approach to global localization within an in-door environment with minimum infrastructure requirements. Global localization is a flavor of localization in which the device is unaware of its initial position and has to determine the same from scratch. Localization is performed based on the received signal strength indication (RSSI) as the only sensor reading, which is provided by most off-the-shelf wireless network interface cards. Location and orientation estimates are computed using Bayesian filtering on a sample set derived using Monte-Carlo sampling. Research leading to the proposed method is outlined along with results and conclusions from simulations and real life experiments.
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