Factor graph based simultaneous localization and mapping using multipath channel information

Erik Leitinger, Florian Meyer, Fredrik Tufvesson, Klaus Witrisal

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

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 building up an environment feature map. It scales well in all relevant systems parameters and has a very low computational complexity.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017
PublisherInstitute of Electrical and Electronics Engineers
Pages652-658
Number of pages7
ISBN (Electronic)9781509015252
DOIs
Publication statusPublished - 29 Jun 2017
Event2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017 - Paris, France
Duration: 21 May 201725 May 2017

Conference

Conference2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017
CountryFrance
CityParis
Period21/05/1725/05/17

Fingerprint

Multipath propagation
Mobile agents
State estimation
Computational complexity

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Hardware and Architecture

Cite this

Leitinger, E., Meyer, F., Tufvesson, F., & Witrisal, K. (2017). Factor graph based simultaneous localization and mapping using multipath channel information. In 2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017 (pp. 652-658). [7962732] Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICCW.2017.7962732

Factor graph based simultaneous localization and mapping using multipath channel information. / Leitinger, Erik; Meyer, Florian; Tufvesson, Fredrik; Witrisal, Klaus.

2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017. Institute of Electrical and Electronics Engineers, 2017. p. 652-658 7962732.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Leitinger, E, Meyer, F, Tufvesson, F & Witrisal, K 2017, Factor graph based simultaneous localization and mapping using multipath channel information. in 2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017., 7962732, Institute of Electrical and Electronics Engineers, pp. 652-658, 2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017, Paris, France, 21/05/17. https://doi.org/10.1109/ICCW.2017.7962732
Leitinger E, Meyer F, Tufvesson F, Witrisal K. Factor graph based simultaneous localization and mapping using multipath channel information. In 2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017. Institute of Electrical and Electronics Engineers. 2017. p. 652-658. 7962732 https://doi.org/10.1109/ICCW.2017.7962732
Leitinger, Erik ; Meyer, Florian ; Tufvesson, Fredrik ; Witrisal, Klaus. / Factor graph based simultaneous localization and mapping using multipath channel information. 2017 IEEE International Conference on Communications Workshops, ICC Workshops 2017. Institute of Electrical and Electronics Engineers, 2017. pp. 652-658
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