Real-Time Indoor and Outdoor Simultaneous Localization and Mapping

基于位置的服务已被时代杂志列为十大技术趋势之一，在基于位置的广告，推荐，导航，资产回收，游戏等领域的潜在应用。许多公司正在研究和改进基于位置的服务。例如，谷歌地图正在努力添加谷歌商店视图。然而，大多数现有的室内和室外地图是相对静态的。实际上，室内和室外环境可以随时间动态地改变。因此，迫切需要新的技术和系统来改善现代城市（室外和室内）中的同时定位、地图绘制和导航。此外，在许多应用中，例如灾难恢复，救援人员必须与其他团队成员合作执行任务。因此，这是非常希望救援人员能够准确地知道他们的同行在realtime.This项目介绍了一个整体的方法，提供实时轻量级和准确的相对定位技术，以检测同行在室内和室外环境。这项研究的成果将构成一个重大的进步，在发展的理论基础和实用算法，同时定位和映射。这项工作的更广泛的影响将通过以下方式进一步扩大：（i）通过加强课程项目改进课程开发;（ii）通过高知名度的教程和开放源网站传播研究成果;（iii）通过开放日提高K-12学生和代表性不足的少数群体对技术的兴趣;（iv）支持有才华的少数民族博士生成功完成博士研究。

Location-based service has been ranked as #1 in top 10 technology trends by Time magazine, with potential applications in the area of location-based advertising, recommendation, navigation, asset recovery, gaming, etc. Lots of companies are investigating and improving the location-based services. For example, Google Map is working on adding Google Store Views. However, most of the existing indoor and outdoor maps are relatively static. In reality, the indoor and outdoor environments may dynamically change over time. Therefore, there is a pressing need for novel technologies and systems to improve simultaneous localization, mapping, and navigation in modern cities (both outdoor and indoor). Moreover, in many applications, such as disaster recovery, rescuers have to cooperate with other team members to perform their tasks. Therefore, it is highly desirable that rescuers can accurately know the relative positions of their peers in real-time.This project introduces a holistic approach for providing real-time light-weight and accurate relative positioning techniques to detect peers in both indoor and outdoor environment. The outcome of this research will constitute a significant advance in the development of theoretical foundations and practical algorithms for simultaneous localization and mapping. The broader impact of this work will be further amplified by (i) improving curriculum development with enhanced course projects; (ii) disseminating research results through high-profile tutorials and open-source sites; (iii) raising interest in technology among K-12 students and under-represented minority groups through open houses; and (iv) supporting a talented minority PhD student to successfully accomplish the doctoral study.