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On the Use of Mpc Amplitude Information in Radio Signal Based Slam

Leitinger, Erik LU ; Grebien, Stefan; Li, Xuhong LU ; Tufvesson, Fredrik LU and Witrisal, Klaus (2018) 20th IEEE Statistical Signal Processing Workshop, SSP 2018 p.851-855
Abstract

In this paper we present a Bayesian framework for utilizing the amplitude information of multipath components (MPCs) in radio-signal-based simultaneous localization and mapping (SLAM). The developed algorithm exploits the complex amplitudes of MPC parameters that are provided by the radio channel parameter estimator. With this information, the algorithm can adapt the probabilities of detecting features within a radio signal in a time-variant way. The algorithm increases the life-time of used features and it better explores 'weak' MPCs, i.e., MPCs with low signal-to-interference-plus-noise-ratios (SINRs) in dense multipath.

Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Bayesian SLAM, factor graph, localization, message passing, multipath channel, probabilistic data association, radio-signal-based positioning
host publication
2018 IEEE Statistical Signal Processing Workshop, SSP 2018
pages
5 pages
publisher
Institute of Electrical and Electronics Engineers Inc.
conference name
20th IEEE Statistical Signal Processing Workshop, SSP 2018
conference location
Freiburg im Breisgau, Germany
conference dates
2018-06-10 - 2018-06-13
external identifiers
  • scopus:85053837867
ISBN
9781538615706
DOI
10.1109/SSP.2018.8450734
language
English
LU publication?
yes
id
90617452-a635-40c3-8c18-875f1b310417
date added to LUP
2018-10-17 13:54:20
date last changed
2018-11-21 21:42:31
@inproceedings{90617452-a635-40c3-8c18-875f1b310417,
  abstract     = {<p>In this paper we present a Bayesian framework for utilizing the amplitude information of multipath components (MPCs) in radio-signal-based simultaneous localization and mapping (SLAM). The developed algorithm exploits the complex amplitudes of MPC parameters that are provided by the radio channel parameter estimator. With this information, the algorithm can adapt the probabilities of detecting features within a radio signal in a time-variant way. The algorithm increases the life-time of used features and it better explores 'weak' MPCs, i.e., MPCs with low signal-to-interference-plus-noise-ratios (SINRs) in dense multipath.</p>},
  author       = {Leitinger, Erik and Grebien, Stefan and Li, Xuhong and Tufvesson, Fredrik and Witrisal, Klaus},
  isbn         = {9781538615706},
  keyword      = {Bayesian SLAM,factor graph,localization,message passing,multipath channel,probabilistic data association,radio-signal-based positioning},
  language     = {eng},
  location     = {Freiburg im Breisgau, Germany},
  month        = {08},
  pages        = {851--855},
  publisher    = {Institute of Electrical and Electronics Engineers Inc.},
  title        = {On the Use of Mpc Amplitude Information in Radio Signal Based Slam},
  url          = {http://dx.doi.org/10.1109/SSP.2018.8450734},
  year         = {2018},
}