Build the floor plan using the acoustic modalities (e.g., microphone as Rx, speaker as Tx) as the Sonar system on the smartphone.
This system is released under cc by-nc-sa 4.0.
Zhou, Bing, Mohammed Elbadry, Ruipeng Gao, and Fan Ye. "BatMapper: Acoustic sensing based indoor floor plan construction using smartphones." In Proceedings of the 15th Annual International Conference on Mobile Systems, Applications, and Services, pp. 42-55. 2017. https://dl.acm.org/doi/pdf/10.1145/3081333.3081363?casa_token=jJDuGt62Hz4AAAAA:IpkQ_X4AjWiEzSCdYLw-iTwO-KExdcBdfJ7suwhIlJsKzKKfc-KoBRcDZO-o_q6ZgKLrdZmnnSkk
For commerical use of the code, please contact Fan Ye fan.ye (at) stonybrook.edu