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A Belief Propagatio...
A Belief Propagation Algorithm for Multipath-based SLAM with Multiple Map Features: A mmWave MIMO Application
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- Li, Xuhong (författare)
- Lund University,Lunds universitet,Kommunikationsteknologi,Forskargrupper vid Lunds universitet,LTH profilområde: AI och digitalisering,LTH profilområden,Lunds Tekniska Högskola,Communications Engineering,Lund University Research Groups,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH
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- Cai, Xuesong (författare)
- Lund University,Lunds universitet,Kommunikationsteknologi,Forskargrupper vid Lunds universitet,Communications Engineering,Lund University Research Groups
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- Leitinger, Erik (författare)
- Graz University of Technology
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- Tufvesson, Fredrik (författare)
- Lund University,Lunds universitet,Kommunikationsteknologi,Forskargrupper vid Lunds universitet,LTH profilområde: AI och digitalisering,LTH profilområden,Lunds Tekniska Högskola,LU profilområde: Naturlig och artificiell kognition,Lunds universitets profilområden,Communications Engineering,Lund University Research Groups,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH,LU Profile Area: Natural and Artificial Cognition,Lund University Profile areas
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(creator_code:org_t)
- 2024
- Engelska.
- Relaterad länk:
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https://portal.resea... (primary) (free)
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https://arxiv.org/ab... (free)
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https://lup.lub.lu.s...
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Abstract
Ämnesord
Stäng
- In this paper, we present a multipath-based simultaneous localization and mapping (SLAM) algorithm that continuously adapts mulitiple map feature (MF) models describing specularly reflected multipath components (MPCs) from flat surfaces and point-scattered MPCs, respectively. We develop a Bayesian model for sequential detection and estimation of interacting MF model parameters, MF states and mobile agent's state including position and orientation. The Bayesian model is represented by a factor graph enabling the use of belief propagation (BP) for efficient computation of the marginal posterior distributions. The algorithm also exploits amplitude information enabling reliable detection of weak MFs associated with MPCs of very low signal-to-noise ratios (SNRs). The performance of the proposed algorithm is evaluated using real millimeter-wave (mmWave) multiple-input-multiple-output (MIMO) measurements with single base station setup. Results demonstrate the excellent localization and mapping performance of the proposed algorithm in challenging dynamic outdoor scenarios.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Publikations- och innehållstyp
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