DynoLoc: Infrastructure-free RF Tracking in Dynamic Indoor Environments

Promising solutions exist today that can accurately track mobile entities indoor using visual inertial odometry in favorable visual conditions, or by leveraging fine-grained ranging (RF, ultrasonic, IR, etc.) to reference anchors. However, they are unable to directly cater to “dynamic” indoor environments (e.g. first responder scenarios, multi-player AR/VR gaming in everyday spaces, etc.) that are devoid of such favorable conditions. Indeed, we show that the need for “infrastructure-free”, and robustness to “node mobility” and “visual conditions” in such environments, motivates a robust RF-based approach along with the need to address a novel and challenging variant of its infrastructure-free (i.e. peer-to-peer) localization problem that is latency-bounded – accurate tracking of mobile entities imposes a latency budget that not only affects the solution computation but also the collection of peer-to-peer ranges