This work proposes a method to acquire the geometry of a room in terms of the size and shape by exploiting the signal propagation times of the single bound reflections (SBRs). The information of room geometry is crucial for improving localization and assisting robot navigation under complex indoor environments. The data association problem for the SBR time measurements from the same reflection surface is addressed by the minimal measurement estimator (MME) together with the density-based clustering method. A best linear unbiased estimator (BLUE) is derived to integrate the MMEs of the same surface for the room geometry estimation. Analysis shows and simulation validates that the proposed method achieves the Cramèr-Rao Lower Bound (CRLB) performance for Gaussian data model.

中文翻译：

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使用多径延迟的房间几何估计

这项工作提出了一种方法，通过利用单边界反射 (SBR) 的信号传播时间，在大小和形状方面获取房间的几何形状。房间几何信息对于在复杂的室内环境下提高定位和辅助机器人导航至关重要。来自同一反射面的 SBR 时间测量的数据关联问题由最小测量估计器 (MME) 与基于密度的聚类方法一起解决。推导出最佳线性无偏估计器 (BLUE) 以整合同一表面的 MME 以进行房间几何估计。分析表明和仿真验证了所提出的方法实现了高斯数据模型的 Cramer-Rao 下界 (CRLB) 性能。