RFMap: Generating Indoor Maps using RF Signals

Generating maps of indoor environments beyond the line of sight finds applications in several areas such as planning, navigation, and security. While researchers have previously explored the use of RF signals to generate maps, prior work has two important limitations: (i) it requires moving the mapping setup along the entire lengths of the sides of the building, and (ii) it generates maps that are not fully connected, rather are scatter plots of locations from where some obstacles reflected the signals. Thus, prior approaches require human interpretation to locate the walls and determine how they merge. In this paper, we address these limitations and propose RFMap, which generates fully connected maps, and does not require the measurement setup to be moved along the sides of the buildings. To generate the map, RFMap first transmits RF signals in many different directions by rotating the antennas while keeping them at the same location and then measures the distances of different reflectors inside the building. Next, it identifies these reflectors and classifies them into various types based on the properties of the reflections. A key challenge is that RFMap does not receive reflections from all the directions due to the specular nature of the reflectors. Due to this, it only gets sparse data about the objects in the environment. To address this challenge, RFMap trains deep generative adversarial network (GAN) to intelligently predict the missing information. At runtime, it feeds the locations and types of the detected reflectors to the trained GAN and generates the complete and accurate map. We implemented RFMap using software defined radios and extensively evaluated it in several real world environments. Our results show that RFMap generated the maps of all the buildings that we tested it on with high accuracy.