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Cooperative mmWave PHD-SLAM with Moving Scatterers | IEEE Conference Publication | IEEE Xplore

Cooperative mmWave PHD-SLAM with Moving Scatterers


Abstract:

Simultaneous localization and mapping (SLAM) using multipath at mmWave frequencies can provide accurate localization in the presence of static landmarks. When radio signa...Show More

Abstract:

Simultaneous localization and mapping (SLAM) using multipath at mmWave frequencies can provide accurate localization in the presence of static landmarks. When radio signals reflected from moving vehicle scatterers (VSs) are observed, the standard SLAM filters exhibit a degraded performance. To address this problem, we propose a probability hypothesis density (PHD)-based SLAM filter, where separate maps are maintained for VS and other types of landmarks. Through a combination of developed (i) local PHD-SLAM and (ii) global map fusion, we demonstrate that the proposed filter can handle the problem.
Date of Conference: 04-07 July 2022
Date Added to IEEE Xplore: 09 August 2022
ISBN Information:
Conference Location: Linköping, Sweden

Funding Agency:


I. Introduction

From mmWave signals sent by a base station (BS), it is possible to obtain highly resolvable channel parameters in time and angular domains [1], [2], enabling accurate mapping of landmarks. Therefore, a variety of radio simultaneous localization and mapping (SLAM) works have been recently developed [1]–[8].

References

References is not available for this document.