Robust Snapshot Radio SLAM
The intrinsic geometric connections between millimeter-wave (mmWave) signals and the propagation environment can be leveraged for simultaneous localization and mapping (SLAM) in 5G and beyond networks. However, estimated channel parameters that are mismatched to the utilized geometric model can cause the SLAM solution to degrade. In this paper, we propose a robust snapshot radio SLAM algorithm for mixed line-of-sight (LoS) and non-line-of-sight (NLoS) environments that can estimate the unknown user equipment (UE) state, map of the environment as well as the presence of the LoS path. The proposed method can accurately detect outliers and the LoS path, enabling robust estimation in both LoS and NLoS conditions. The proposed method is validated using 60 GHz experimental data, indicating superior performance compared to the state-of-the-art.
Code (0)
등록된 구현이 없습니다.
Tasks
Simultaneous Localization and MappingSimilar Papers 제목 키워드 기반
Millimeter-wave Radio SLAM: End-to-End Processing Methods and Experimental Validation
In this article, we address the timely topic of cellular bistatic simultaneous localization and mapping (SLAM) with specific focus on end-to-end processing solutions, from raw I/Q samples, via channel parameter estimatio…
parameter estimationSimultaneous Localization and MappingA Belief Propagation Approach for Direct Multipath-Based SLAM
In this work, we develop a multipath-based simultaneous localization and mapping (SLAM) method that can directly be applied to received radio signals. In existing multipath-based SLAM approaches, a channel estimator is u…
Simultaneous Localization and MappingData Fusion for Radio Frequency SLAM with Robust Sampling
Precise indoor localization remains a challenging problem for a variety of essential applications. A promising approach to address this problem is to exchange radio signals between mobile agents and static physical ancho…
Indoor LocalizationSimultaneous Localization and MappingCooperative mmWave PHD-SLAM with Moving Scatterers
Using the multiple-model (MM) probability hypothesis density (PHD) filter, millimeter wave (mmWave) radio simultaneous localization and mapping (SLAM) in vehicular scenarios is susceptible to movements of objects, in par…
Simultaneous Localization and MappingCSI-Assisted Edge SLAM Testbed Platform for 5G Connected Unmanned Autonomous Vehicles
The evolution from 5G towards 6G reinforces interest in connected robotics, where mobile robots offload compute-intensive tasks to edge servers over ultra-reliable low-latency communication (URLLC) links. Simultaneous lo…
Autonomous Vehicles