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The demand for real-time and accurate mapping is ubiquitous, particularly in complex indoor settings. While SLAM-based
methods are popular, Radio Tomographic Imaging (RTI) offers an essential set of advantages that includes mapping inaccessible or
enclosed spaces, shorter scanning trajectories, or even identifying material properties of structures on the map. However, existing RTI
systems typically depend on pre-deployed, precisely calibrated infrastructure equipped with ample compute power that make it
challenging to deploy in a ubiquitous setting. We design UbiqMap, a lightweight RTI-based end-to-end system capable of mapping
indoor spaces in real-time, with minimal to zero reliance over pre-deployed infrastructure. We evaluate the performance of UbiqMap in
various scenarios, including two real deployments - a moderately complex residential apartment (800 sq. ft) and a large building foyer
area (3000 sq. ft), as well as a few simulated scenarios. We demonstrate how UbiqMap can benefit over traditional SLAM based
techniques in specific contexts and advocate fusion of RTI methods with SLAM to improve future mapping technologies. Overall,
UbiqMap improves the quality of the estimated map by 30%–40% over the state-of-the-art with equivalent resource availability.
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