Publication detail

A Belief Propagation Algorithm for Multipath-Based SLAM

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

Original Title

A Belief Propagation Algorithm for Multipath-Based SLAM

Type

journal article in Web of Science

Language

English

Original Abstract

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.

Keywords

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

Authors

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

Released

4. 9. 2019

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Location

PISCATAWAY

ISBN

1558-2248

Periodical

IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS

Year of study

18

Number

12

State

United States of America

Pages from

5613

Pages to

5629

Pages count

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"
}