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Factor graph based simultaneous localization and mapping using multipath channel information

Leitinger, Erik LU ; Meyer, Florian; Tufvesson, Fredrik LU and Witrisal, Klaus (2017) 2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017 p.652-658
Abstract

Radio-based localization has the potential to provide centimeter-level position information. In this paper we apply joint probabilistic data association to multipath-assisted simultaneous localization and mapping (SLAM) for this purpose. In multipath-assisted localization, position-related information in multipath components (MPCs) is exploited to increase the accuracy and robustness of indoor tracking. Based on a recently introduced loopy belief propagation multipath-assisted localization scheme that performs probabilistic data association jointly with agent state estimation, we build a method for SLAM without using apriori known environment maps. The proposed method is highly accurate and robust in localizing a mobile agent while... (More)

Radio-based localization has the potential to provide centimeter-level position information. In this paper we apply joint probabilistic data association to multipath-assisted simultaneous localization and mapping (SLAM) for this purpose. In multipath-assisted localization, position-related information in multipath components (MPCs) is exploited to increase the accuracy and robustness of indoor tracking. Based on a recently introduced loopy belief propagation multipath-assisted localization scheme that performs probabilistic data association jointly with agent state estimation, we build a method for SLAM without using apriori known environment maps. The proposed method is highly accurate and robust in localizing a mobile agent while building up an environment feature map. It scales well in all relevant systems parameters and has a very low computational complexity.

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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
host publication
2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017
pages
7 pages
publisher
Institute of Electrical and Electronics Engineers Inc.
conference name
2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017
conference location
Paris, France
conference dates
2017-05-21 - 2017-05-25
external identifiers
  • scopus:85026273565
ISBN
9781509015252
DOI
10.1109/ICCW.2017.7962732
language
English
LU publication?
yes
id
fa6574d6-94e9-4f46-a989-488b9c60eeae
date added to LUP
2017-08-04 10:48:53
date last changed
2019-02-03 05:25:24
@inproceedings{fa6574d6-94e9-4f46-a989-488b9c60eeae,
  abstract     = {<p>Radio-based localization has the potential to provide centimeter-level position information. In this paper we apply joint probabilistic data association to multipath-assisted simultaneous localization and mapping (SLAM) for this purpose. In multipath-assisted localization, position-related information in multipath components (MPCs) is exploited to increase the accuracy and robustness of indoor tracking. Based on a recently introduced loopy belief propagation multipath-assisted localization scheme that performs probabilistic data association jointly with agent state estimation, we build a method for SLAM without using apriori known environment maps. The proposed method is highly accurate and robust in localizing a mobile agent while building up an environment feature map. It scales well in all relevant systems parameters and has a very low computational complexity.</p>},
  author       = {Leitinger, Erik and Meyer, Florian and Tufvesson, Fredrik and Witrisal, Klaus},
  isbn         = {9781509015252},
  language     = {eng},
  location     = {Paris, France},
  month        = {06},
  pages        = {652--658},
  publisher    = {Institute of Electrical and Electronics Engineers Inc.},
  title        = {Factor graph based simultaneous localization and mapping using multipath channel information},
  url          = {http://dx.doi.org/10.1109/ICCW.2017.7962732},
  year         = {2017},
}