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This paper considers the problem of simultaneous 2-D room shapereconstruction and self-localization without the requirement of anypre-established infrastructure. A mobile device equipped with co-locatedmicrophone and loudspeaker as well as internal motion sensors is used to emitacoustic pulses and collect echoes reflected by the walls. Using only firstorder echoes, room shape recovery and self-localization is feasible whenauxiliary information is obtained using motion sensors. In particular, it isestablished that using echoes collected at three measurement locations and thetwo distances between consecutive measurement points, unique localization andmapping can be achieved provided that the three measurement points are notcollinear. Practical algorithms for room shape reconstruction andself-localization in the presence of noise and higher order echoes are proposedalong with experimental results to demonstrate the effectiveness of theproposed approach.

Autonomous Localization and Mapping Using a Single Mobile Device