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Factor graph based ...
Factor graph based simultaneous localization and mapping using multipath channel information
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- Leitinger, Erik (author)
- Lund University,Lunds universitet,Kommunikationsteknologi,Forskargrupper vid Lunds universitet,Communications Engineering,Lund University Research Groups
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- Meyer, Florian (author)
- Massachusetts Institute of Technology
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- Tufvesson, Fredrik (author)
- Lund University,Lunds universitet,Kommunikationsteknologi,Forskargrupper vid Lunds universitet,Communications Engineering,Lund University Research Groups
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- Witrisal, Klaus (author)
- Graz University of Technology
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(creator_code:org_t)
- 2017
- 2017
- English 7 s.
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In: 2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017. - 9781509015252 ; , s. 652-658
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http://dx.doi.org/10...
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Abstract
Subject headings
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- Radio-based localization has the potential to provide centimeter-level position information. In this paper we apply joint probabilistic data association to multipath-assisted simultaneous localization and mapping (SLAM) for this purpose. In multipath-assisted localization, position-related information in multipath components (MPCs) is exploited to increase the accuracy and robustness of indoor tracking. Based on a recently introduced loopy belief propagation multipath-assisted localization scheme that performs probabilistic data association jointly with agent state estimation, we build a method for SLAM without using apriori known environment maps. The proposed method is highly accurate and robust in localizing a mobile agent while building up an environment feature map. It scales well in all relevant systems parameters and has a very low computational complexity.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Kommunikationssystem (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Communication Systems (hsv//eng)
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