I. Introduction
5G mmWave signals provide unique opportunities for simultaneous localization and mapping (SLAM), due to their inherent geometric connection to the propagation environment [1]. Signals from the base station (BS) reach the user equipment (UE) via multiple propagation paths. Each path is determined by the propagation environment and the locations of the BS and the UE. State-of-the-art channel estimators can provide accurate estimates for those paths by using received signals, in terms of groups of channel gain, time of arrival (TOA), angles of arrival (AOA), and angles of departure (AOD), which contain information needed for SLAM [2], [3].