PMBM-Based SLAM Filters in 5G mmWave Vehicular Networks
Artikel i vetenskaplig tidskrift, 2022

Radio-based vehicular simultaneous localization and mapping (SLAM) aims to localize vehicles while mapping the landmarks in the environment. We propose a sequence of three Poisson multi-Bernoulli mixture (PMBM) based SLAM filters, which handle the entire SLAM problem in a theoretically optimal manner. The complexity of the three proposed SLAM filters is progressively reduced while sustaining high accuracy by deriving SLAM density approximation with the marginalization of nuisance parameters (either vehicle state or data association). Firstly, the PMBM SLAM filter serves as the foundation, for which we provide the first complete description based on a Rao-Blackwellized particle filter. Secondly, the Poisson multi-Bernoulli (PMB) SLAM filter is based on the standard reduction from PMBM to PMB, but involves a novel interpretation based on auxiliary variables and a relation to Bethe free energy. Finally, using the same auxiliary variable argument, we derive a marginalized PMB SLAM filter, which avoids particles and is instead implemented with a low-complexity cubature Kalman filter. We evaluate the three proposed SLAM filters in comparison with the probability hypothesis density (PHD) SLAM filter in 5G mmWave vehicular networks and show the computation-performance trade-off between them.

Poisson multi-Bernoulli mixture filter

simultaneous localization and mapping

Bethe free energy

5G mmWave vehicular networks

random finite set

Författare

Hyowon Kim

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

Karl Granström

Embark Trucks Inc.

Lennart Svensson

Chalmers, Elektroteknik, Signalbehandling och medicinsk teknik

Sunwoo Kim

Hanyang University

Henk Wymeersch

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

IEEE Transactions on Vehicular Technology

0018-9545 (ISSN) 1939-9359 (eISSN)

Vol. 71 8 8646-8661

Multidimensionell signalbehandling med frekvenskammar

Vetenskapsrådet (VR) (2018-03701), 2018-12-01 -- 2021-12-31.

Ämneskategorier

Beräkningsmatematik

Reglerteknik

Signalbehandling

DOI

10.1109/TVT.2022.3174403

Mer information

Senast uppdaterat

2023-10-25