WiFi - guided visual loop closure for indoor navigation using mobile devices

Mobile, personal devices are getting more capable every year. Equipped with advanced sensors, mobile devices can use them as a viable platform to implement and test more complex algorithms. This paper presents an energy-efficient person localization system allowing to detect already visited places. The presented approach combines two independent information sources: wireless WiFi adapter and camera. The resulting system achieves higher recognition rates than either of the separate approaches used alone. The evaluation of presented system is performed on three datasets recorded in buildings of different structure using a modern Android device.