Millimeter-wave Radio SLAM: End-to-End Processing Methods and Experimental Validation
Artikel i vetenskaplig tidskrift, 2024

In this article, we address the timely topic of cellular bistatic simultaneous localization and mapping (SLAM) with specific focus on end-to-end processing solutions, from raw I/Q samples, via channel parameter estimation to user equipment (UE) and landmark location information in millimeter-wave (mmWave) networks, with minimal prior knowledge. Firstly, we propose a new multipath channel parameter estimation solution that operates directly with beam reference signal received power (BRSRP) measurements, alleviating the need to know the true antenna beam-patterns or the underlying beamforming weights. Additionally, the method has built-in robustness against unavoidable antenna sidelobes. Secondly, we propose new snapshot SLAM algorithms that have increased robustness and identifiability compared to prior art, in practical built environments with complex clutter and multi-bounce propagation scenarios, and do not rely on any a priori motion model. The performance of the proposed methods is assessed at the 60GHz mmWave band, via both realistic ray-tracing evaluations as well as true experimental measurements, in an indoor environment. A wide set of offered results demonstrate the improved performance, compared to the relevant prior art, in terms of the channel parameter estimation as well as the end-to-end SLAM performance. Finally, the article provides the measured 60GHz data openly available for the research community, facilitating results reproducibility as well as further algorithm development.

integrated sensing and communications


millimeter-wave networks

Parameter estimation

Simultaneous localization and mapping



Antenna measurements

simultaneous localization and mapping

Channel estimation


Millimeter wave communication


Elizaveta Rastorgueva-Foi

Tampereen Yliopisto

Ossi Kaltiokallio

Tampereen Yliopisto

Yu Ge

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

Matias Turunen

Tampereen Yliopisto

Jukka Talvitie

Tampereen Yliopisto

Bo Tan

Tampereen Yliopisto

Musa Furkan Keskin

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

Henk Wymeersch

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

M. Valkama

Tampereen Yliopisto

IEEE Journal on Selected Areas in Communications

0733-8716 (ISSN) 15580008 (eISSN)

Vol. In Press







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