MmWave Mapping and SLAM for 5G and Beyond
Kapitel i bok, 2023

Device localization and radar-like mapping are at the heart of integrated sensing and communication, enabling not only new services and applications, but also improving communication quality with reduced overheads. These forms of sensing are however susceptible to data association problems, due to the unknown relation between measurements and detected objects or targets. In this chapter, we provide an overview of the fundamental tools used to solve mapping, tracking, and simultaneous localization and mapping (SLAM) problems. We distinguish the different types of sensing problems and then focus on mapping and SLAM as running examples. Starting from the applicable models and definitions, we describe the different algorithmic approaches, with a particular focus on how to deal with data association problems. In particular, methods based on random finite set theory and Bayesian graphical models are introduced in detail. A numerical study with synthetic and experimental data is then used to compare these approaches in a variety of scenarios.

Författare

Yu Ge

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

Ossi Kaltiokallio

Tampereen Yliopisto

Hyowon Kim

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

Jukka Talvitie

Tampereen Yliopisto

Sunwoo Kim

Hanyang University

Lennart Svensson

Chalmers, Elektroteknik, Signalbehandling och medicinsk teknik

Mikko Valkama

Tampereen Yliopisto

Henk Wymeersch

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

Integrated Sensing and Communications

445-475
978-981-99-2501-8 (ISBN)

A flagship for B5G/6G vision and intelligent fabric of technology enablers connecting human, physical, and digital worlds (Hexa-X )

Europeiska kommissionen (EU) (EC/HE/101120332), 2023-10-01 -- 2027-09-30.

Europeiska kommissionen (EU) (EC/2020/101015956), 2021-01-01 -- 2023-06-30.

ALTRA-5G: Altruistic Traffic Coordination over 5G

Wallenberg AI, Autonomous Systems and Software Program, 2019-10-28 -- .

Styrkeområden

Informations- och kommunikationsteknik

Ämneskategorier

Telekommunikation

Elektroteknik och elektronik

DOI

10.1007/978-981-99-2501-8_16

Mer information

Senast uppdaterat

2024-10-18