A Belief Propagation Algorithm for Multipath-Based SLAM

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F19%3APU140250" target="_blank" >RIV/00216305:26220/19:PU140250 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore.ieee.org/document/8823946" target="_blank" >https://ieeexplore.ieee.org/document/8823946</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TWC.2019.2937781" target="_blank" >10.1109/TWC.2019.2937781</a>

Jazyk výsledku

angličtina

Název v původním jazyce

A Belief Propagation Algorithm for Multipath-Based SLAM

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

A Belief Propagation Algorithm for Multipath-Based SLAM

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20203 - Telecommunications

Projekt

<a href="/cs/project/GA17-19638S" target="_blank" >GA17-19638S: Určování pohybu arteriální stěny pomocí sekvenčního bayesovského odhadu</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS

ISSN

1536-1276

e-ISSN

1558-2248

Svazek periodika

18

Číslo periodika v rámci svazku

12

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

17

Strana od-do

5613-5629

Kód UT WoS článku

000510852500011

EID výsledku v databázi Scopus

—