Motion Sensor Assisted Room shape Reconstruction and Self-Localization Using First-Order Acoustic Echoes

Simultaneous 2-D room shape reconstruction and self-localization is accomplished using no pre-established infrastructure. A mobile device with co-located microphone and loudspeaker is used to collect echoes reflected by the walls. The system uniquely recovers arbitrary 2-D convex room shape as well as the position of mobile device 10 by collecting and processing distances between three consecutive measurement points as well as acoustic echoes from the device. A practical algorithm for room shape reconstruction and self-localization in the presence of noise and higher order echoes is proposed. Experimental results are provided to demonstrate the effectiveness of the approach.