The prevalence of WiFi devices and ubiquitous coverage of WiFi networks provide us the opportunity to extend WiFi capabilities beyond communication, particularly in sensing the physical environment. In this paper, we survey the evolution of WiFi sensing systems utilizing commodity devices over the past decade. It groups WiFi sensing systems into three main categories: activity recognition (large-scale and small-scale), object sensing, and localization. We highlight the milestone work in each category and the underline techniques they adopted. Next, this work presents the challenges faced by existing WiFi sensing systems. Lastly, we comprehensively discuss the future trending of commodity WiFi sensing.
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