Detail publikace

A Belief Propagation Algorithm for Multipath-Based SLAM

LEITINGER, E. MEYER, F. HLAWATSCH, F. WITRISAL, K. TUFVESSON, F. WIN, Z.

Originální název

A Belief Propagation Algorithm for Multipath-Based SLAM

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

angličtina

Originální abstrakt

We present a simultaneous localization and mapping (SLAM) algorithm that is based on radio signals and the association of specular multipath components (MPCs) with geometric features. Especially in indoor scenarios, robust localization from radio signals is challenging due to diffuse multipath propagation, unknown MPC-feature association, and limited visibility of features. In our approach, specular reflections at flat surfaces are described in terms of virtual anchors (VAs) that are mirror images of the physical anchors (PAs). The positions of these VAs and possibly also of the PAs are unknown. We develop a Bayesian model of the SLAM problem and represent it by a factor graph, which enables the use of belief propagation (BP) for efficient marginalization of the joint posterior distribution. The resulting BP-based SLAM algorithm detects the VAs associated with the PAs and estimates jointly the time-varying position of the mobile agent and the positions of the VAs and possibly also of the PAs, thereby leveraging the MPCs in the radio signal for improved accuracy and robustness of agent localization. The algorithm has a low computational complexity and scales well in all relevant system parameters. Experimental results using both synthetic measurements and real ultra-wideband radio signals demonstrate the excellent performance of the algorithm in challenging indoor environments.

Klíčová slova

Simultaneous localization and mapping; SLAM; multipath channel; data association; factor graph; message passing; sum-product algorithm

Autoři

LEITINGER, E.; MEYER, F.; HLAWATSCH, F.; WITRISAL, K.; TUFVESSON, F.; WIN, Z.

Vydáno

4. 9. 2019

Nakladatel

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Místo

PISCATAWAY

ISSN

1558-2248

Periodikum

IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS

Ročník

18

Číslo

12

Stát

Spojené státy americké

Strany od

5613

Strany do

5629

Strany počet

17

URL

https://ieeexplore.ieee.org/document/8823946

BibTex

@article{BUT170642,
  author="LEITINGER, E. and MEYER, F. and HLAWATSCH, F. and WITRISAL, K. and TUFVESSON, F. and WIN, Z.",
  title="A Belief Propagation Algorithm for Multipath-Based SLAM",
  journal="IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS",
  year="2019",
  volume="18",
  number="12",
  pages="5613--5629",
  doi="10.1109/TWC.2019.2937781",
  issn="1558-2248",
  url="https://ieeexplore.ieee.org/document/8823946"
}