Sökning: onr:"swepub:oai:lup.lub.lu.se:fa6574d6-94e9-4f46-a989-488b9c60eeae" >
Factor graph based ...
Factor graph based simultaneous localization and mapping using multipath channel information
-
- Leitinger, Erik (författare)
- Lund University,Lunds universitet,Kommunikationsteknologi,Forskargrupper vid Lunds universitet,Communications Engineering,Lund University Research Groups
-
- Meyer, Florian (författare)
- Massachusetts Institute of Technology
-
- Tufvesson, Fredrik (författare)
- Lund University,Lunds universitet,Kommunikationsteknologi,Forskargrupper vid Lunds universitet,Communications Engineering,Lund University Research Groups
-
visa fler...
-
- Witrisal, Klaus (författare)
- Graz University of Technology
-
visa färre...
-
(creator_code:org_t)
- 2017
- 2017
- Engelska 7 s.
-
Ingår i: 2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017. - 9781509015252 ; , s. 652-658
- Relaterad länk:
-
http://dx.doi.org/10...
-
visa fler...
-
https://lup.lub.lu.s...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Kommunikationssystem (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Communication Systems (hsv//eng)
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)
Hitta via bibliotek
Till lärosätets databas