{"id":"https://openalex.org/W4416926321","doi":"https://doi.org/10.1145/3770699","title":"CornerSense: Virtual Path-Augmented WiFi Sensing for Human Proximity Detection Around Corners on Mobile Robots","display_name":"CornerSense: Virtual Path-Augmented WiFi Sensing for Human Proximity Detection Around Corners on Mobile Robots","publication_year":2025,"publication_date":"2025-12-02","ids":{"openalex":"https://openalex.org/W4416926321","doi":"https://doi.org/10.1145/3770699"},"language":"en","primary_location":{"id":"doi:10.1145/3770699","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3770699","pdf_url":null,"source":{"id":"https://openalex.org/S4210219751","display_name":"Proceedings of the ACM on Interactive Mobile Wearable and Ubiquitous Technologies","issn_l":"2474-9567","issn":["2474-9567"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1145/3770699","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004364148","display_name":"Jing He","orcid":"https://orcid.org/0000-0003-2904-5336"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jing He","raw_affiliation_strings":["Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-2904-5336","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100422148","display_name":"Rui Zhang","orcid":"https://orcid.org/0000-0003-1870-3727"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Zhang","raw_affiliation_strings":["College of Electronics and Information Engineering, Shenzhen University, Shenzhen, Guangdong, China"],"raw_orcid":"https://orcid.org/0000-0003-1870-3727","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Shenzhen University, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010843898","display_name":"Qijia Wang","orcid":"https://orcid.org/0009-0004-7682-7810"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qijia Wang","raw_affiliation_strings":["Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0009-0004-7682-7810","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092655015","display_name":"Ruiqi Kong","orcid":"https://orcid.org/0009-0004-5367-1956"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ruiqi Kong","raw_affiliation_strings":["Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0009-0004-5367-1956","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100327671","display_name":"He Chen","orcid":"https://orcid.org/0000-0001-8886-9680"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"He Chen","raw_affiliation_strings":["Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-8886-9680","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004364148"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35878226,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"4","first_page":"1","last_page":"37"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9271000027656555,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9271000027656555,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11158","display_name":"Wireless Networks and Protocols","score":0.025100000202655792,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.005799999926239252,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5388000011444092},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5131000280380249},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5055999755859375},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.39820000529289246},{"id":"https://openalex.org/keywords/background-subtraction","display_name":"Background subtraction","score":0.3887999951839447},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38339999318122864},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.36980000138282776},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.3107999861240387}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6467999815940857},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5388000011444092},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5131000280380249},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5055999755859375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4799000024795532},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4104999899864197},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.39820000529289246},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3944000005722046},{"id":"https://openalex.org/C32653426","wikidata":"https://www.wikidata.org/wiki/Q3813641","display_name":"Background subtraction","level":3,"score":0.3887999951839447},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38339999318122864},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.36980000138282776},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.30979999899864197},{"id":"https://openalex.org/C148063708","wikidata":"https://www.wikidata.org/wiki/Q5072511","display_name":"Channel state information","level":3,"score":0.29989999532699585},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2888000011444092},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.28349998593330383},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.2759999930858612},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.27489998936653137},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C2775941552","wikidata":"https://www.wikidata.org/wiki/Q25212305","display_name":"Isolation (microbiology)","level":2,"score":0.2554999887943268},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25440001487731934},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2522999942302704},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3770699","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3770699","pdf_url":null,"source":{"id":"https://openalex.org/S4210219751","display_name":"Proceedings of the ACM on Interactive Mobile Wearable and Ubiquitous Technologies","issn_l":"2474-9567","issn":["2474-9567"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3770699","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3770699","pdf_url":null,"source":{"id":"https://openalex.org/S4210219751","display_name":"Proceedings of the ACM on Interactive Mobile Wearable and Ubiquitous Technologies","issn_l":"2474-9567","issn":["2474-9567"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1927744280","https://openalex.org/W1983301216","https://openalex.org/W2027461913","https://openalex.org/W2048251016","https://openalex.org/W2089695767","https://openalex.org/W2095396347","https://openalex.org/W2129045955","https://openalex.org/W2161281768","https://openalex.org/W2338892592","https://openalex.org/W2517331439","https://openalex.org/W2522695908","https://openalex.org/W2594230123","https://openalex.org/W2603133612","https://openalex.org/W2762414408","https://openalex.org/W2764026391","https://openalex.org/W2783569558","https://openalex.org/W2797920497","https://openalex.org/W2808702971","https://openalex.org/W2890220560","https://openalex.org/W2899145720","https://openalex.org/W2952065976","https://openalex.org/W2952586546","https://openalex.org/W2955453892","https://openalex.org/W2964192401","https://openalex.org/W2970344707","https://openalex.org/W2981383332","https://openalex.org/W2989059099","https://openalex.org/W2996856852","https://openalex.org/W3003251380","https://openalex.org/W3015235064","https://openalex.org/W3021789920","https://openalex.org/W3134310801","https://openalex.org/W3194951488","https://openalex.org/W3214343395","https://openalex.org/W4200100885","https://openalex.org/W4210375380","https://openalex.org/W4210560029","https://openalex.org/W4220716396","https://openalex.org/W4220794272","https://openalex.org/W4225648564","https://openalex.org/W4311166797","https://openalex.org/W4382119007","https://openalex.org/W4387212750"],"related_works":[],"abstract_inverted_index":{"WiFi":[0,37,55,96],"sensing":[1,38,97,332],"has":[2],"attracted":[3],"significant":[4],"attention":[5],"over":[6,350],"the":[7,30,34,65,83,103,107,113,147,164,171,174,182,185,192,204,207,212,223,229,237,242,247,255,260],"past":[8],"decade":[9],"for":[10,57,122,197,254,268,328],"its":[11],"potential":[12],"to":[13,32,52,203,235,252],"enable":[14],"ubiquitous":[15],"human":[16,59,224,274,291],"activity":[17],"monitoring.":[18],"While":[19],"prior":[20],"approaches":[21],"primarily":[22],"rely":[23],"on":[24,39,141,170],"stationary":[25,99,329],"transceivers,":[26],"this":[27,128],"paper":[28],"is":[29,91,120,188,220,233,250,349],"first":[31,148,189,248],"investigate":[33],"feasibility":[35],"of":[36,85,106,115,173,201,206,214,273,304,315,337,346,353,358],"mobile":[40,50],"robots.":[41],"We":[42],"introduce":[43],"CornerSense,":[44],"a":[45,132,153,158,198,308,319,335,342],"new":[46],"framework":[47],"that":[48,82,161,219,295,322,357],"empowers":[49],"robots":[51],"leverage":[53],"their":[54],"interfaces":[56],"detecting":[58],"proximity":[60,124,331],"around":[61],"corners,":[62],"effectively":[63],"addressing":[64],"non-line-of-sight":[66],"challenges":[67],"commonly":[68],"encountered":[69],"by":[70,167],"traditional":[71],"robotic":[72],"sensors":[73],"such":[74],"as":[75,236],"cameras":[76],"and":[77,90,109,270,287,339],"LiDAR.":[78],"Our":[79],"analysis":[80,144],"demonstrates":[81],"design":[84],"CornerSense":[86,130,156,296],"fundamentally":[87],"differs":[88],"from,":[89],"more":[92],"challenging":[93],"than,":[94],"conventional":[95],"with":[98],"transceivers.":[100],"In":[101,146,317],"particular,":[102],"intertwined":[104],"movement":[105],"robot":[108],"nearby":[110],"humans":[111],"complicates":[112],"isolation":[114],"human-induced":[116],"signal":[117],"variations,":[118],"which":[119,348],"critical":[121],"accurate":[123,269],"detection.":[125],"To":[126],"address":[127],"challenge,":[129],"develops":[131],"virtual":[133,154,175],"path-augmented,":[134],"two-stage":[135],"dominant":[136,217,238,261],"path":[137,160,187,218,232,244],"extraction":[138,213],"approach":[139],"based":[140],"principal":[142],"component":[143],"(PCA).":[145],"stage,":[149,184],"through":[150],"strategically":[151],"introducing":[152],"path,":[155,263],"extracts":[157],"reference":[159,186,243],"incorporates":[162],"only":[163,333],"robot's":[165],"motion":[166],"applying":[168],"PCA":[169,202],"power":[172,205],"path-augmented":[176],"channel":[177],"state":[178],"information":[179],"(aug-CSI).":[180],"During":[181],"second":[183,199],"subtracted":[190],"from":[191,341],"aug-CSI.":[193],"This":[194,231],"subtraction":[195],"allows":[196],"application":[200],"residual":[208],"aug-CSI,":[209],"thereby":[210],"enabling":[211],"another":[215],"distinct":[216,290],"reflected":[221],"off":[222],"body":[225],"before":[226],"arriving":[227],"at":[228],"robot.":[230],"referred":[234],"human-reflected":[239,262],"path.":[240],"Finally,":[241],"extracted":[245],"in":[246,259,284],"stage":[249],"employed":[251],"compensate":[253],"hardware-induced":[256],"phase":[257],"offset":[258],"yielding":[264],"cleaned":[265],"CSI":[266],"ready":[267],"robust":[271],"detection":[272],"proximity.":[275],"Real-world":[276],"experimental":[277],"evaluations":[278],"conducted":[279],"across":[280],"nine":[281],"different":[282],"corners":[283],"three":[285],"groups":[286],"under":[288],"four":[289],"walking":[292],"patterns":[293],"reveal":[294],"achieves":[297],"an":[298,325,351],"average":[299,310],"true":[300],"positive":[301,312],"rate":[302,313],"(TPR)":[303],"96%":[305],"while":[306],"maintaining":[307],"low":[309],"false":[311],"(FPR)":[314],"3%.":[316],"contrast,":[318],"baseline":[320],"system":[321],"directly":[323],"applies":[324],"algorithm":[326],"intended":[327],"transceiver-based":[330],"reaches":[334],"TPR":[336],"84%":[338],"suffers":[340],"markedly":[343],"higher":[344,355],"FPR":[345],"46%,":[347],"order":[352],"magnitude":[354],"than":[356],"CornerSense.":[359]},"counts_by_year":[],"updated_date":"2025-12-03T23:09:05.601824","created_date":"2025-12-02T00:00:00"}