Work

Robust Snapshot Radio SLAM

Year: 2024

Type: article

Abstract: 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.

Source: IEEE Transactions on Vehicular Technology

DOI: 10.1109/tvt.2024.3524118

Authors: Ossi Kaltiokallio, Elizaveta Rastorgueva-Foi, Jukka Talvitie, Yu Ge, Henk Wymeersch, Mikko Valkama

Institutions: Tampere University, Chalmers University of Technology

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $2,495

Funders: Academy of Finland, Business Finland