I. Introduction
Location and map information can assist communication in the the millimeter wave/Terahertz (mmWave/THz) band 5G/6G systems, as well as a variety of location-based applications such as autonomous driving [1], tactile robots [2], etc. Due to the geometrical channel property of high frequency radio signals [3], the localization and mapping tasks can be done by exploiting the channel parameters (e.g., angles and delay) of each path from the estimated channel matrix [4]. With the help of one or more reference points (e.g., base station (BS) or reconfigurable intelligent surface (RIS)), the position and orientation of the user equipment (UE), as well as the position of the incidence point (IP), can be estimated [5].