Simultaneous localization and mapping in millimeter wave networks with angle measurements
Paper in proceeding, 2020
In this paper we propose a belief propagation (BP) based simultaneous localization and mapping (SLAM) approach suitable for millimeter wave (mm-Wave) networks. This approach leverages angle of arrival (AoA) and angle of departure (AoD) information with respect to multiple scatterers. Considering measurements from multiple base stations (BSs) and scatterers, seen as multiple sources, we solve out the data association problem from a centralized BP perspective, while jointly estimating the positions of both the mobile and scatterers. Simulations show that the proposed approach outperforms conventional distributed BS-wise BP methods in terms of estimation accuracy.
SLAM
Loopy belief propagation
Data association
Author
Remun Koirala
Institut d'Electronique et de Telecommunications de Rennes
University of Bologna
The French Alternative Energies and Atomic Energy Commission (CEA)
Benoit Denis
The French Alternative Energies and Atomic Energy Commission (CEA)
Bernard Uguen
University of Bologna
Davide Dardari
University of Bologna
Henk Wymeersch
Chalmers, Electrical Engineering, Communication, Antennas and Optical Networks
2020 IEEE International Conference on Communications Workshops, ICC Workshops 2020 - Proceedings
9145046
2020 IEEE International Conference on Communications Workshops, ICC Workshops 2020
Dublin, Ireland,
Dublin, Ireland,
Multi-dimensional Signal Processing with Frequency Comb Transceivers
Swedish Research Council (VR) (2018-03701), 2018-12-01 -- 2021-12-31.
Subject Categories
Communication Systems
Robotics
Signal Processing
DOI
10.1109/ICCWorkshops49005.2020.9145046