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Millimeter-wave Radio SLAM: End-to-End Processing Methods and Experimental Validation

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Title: Millimeter-wave Radio SLAM: End-to-End Processing Methods and Experimental Validation
Authors: Rastorgueva-Foi, Elizaveta, Kaltiokallio, Ossi, Ge, Yu, 1995, Turunen, Matias, Talvitie, Jukka, Tan, Bo, Keskin, Musa Furkan, 1988, Wymeersch, Henk, 1976, Valkama, M.
Source: 5G mobil positionering för fordonssäkerhet Hårdvarumedveten integrerad lokalisering och avkänning för kommunikationssystem IEEE Journal on Selected Areas in Communications Millimeter-Wave Radio SLAM: 60 GHz Indoor Sensing Dataset. 42(9):2550-2567
Subject Terms: simultaneous localization and mapping, millimeter-wave networks, integrated sensing and communications, Channel estimation, Antenna measurements, 5G, 6G, Millimeter wave communication, Simultaneous localization and mapping, Robustness, Antennas, Parameter estimation
Description: In this article, we address the timely topic of cellular bistatic simultaneous localization and mapping (SLAM) with specific focus on end-to-end processing solutions, from raw I/Q samples, via channel parameter estimation to user equipment (UE) and landmark location information in millimeter-wave (mmWave) networks, with minimal prior knowledge. Firstly, we propose a new multipath channel parameter estimation solution that operates directly with beam reference signal received power (BRSRP) measurements, alleviating the need to know the true antenna beam-patterns or the underlying beamforming weights. Additionally, the method has built-in robustness against unavoidable antenna sidelobes. Secondly, we propose new snapshot SLAM algorithms that have increased robustness and identifiability compared to prior art, in practical built environments with complex clutter and multi-bounce propagation scenarios, and do not rely on any a priori motion model. The performance of the proposed methods is assessed at the 60GHz mmWave band, via both realistic ray-tracing evaluations as well as true experimental measurements, in an indoor environment. A wide set of offered results demonstrate the improved performance, compared to the relevant prior art, in terms of the channel parameter estimation as well as the end-to-end SLAM performance. Finally, the article provides the measured 60GHz data openly available for the research community, facilitating results reproducibility as well as further algorithm development.
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  Data: Millimeter-wave Radio SLAM: End-to-End Processing Methods and Experimental Validation
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  Data: <searchLink fieldCode="AR" term="%22Rastorgueva-Foi%2C+Elizaveta%22">Rastorgueva-Foi, Elizaveta</searchLink><br /><searchLink fieldCode="AR" term="%22Kaltiokallio%2C+Ossi%22">Kaltiokallio, Ossi</searchLink><br /><searchLink fieldCode="AR" term="%22Ge%2C+Yu%22">Ge, Yu</searchLink>, 1995<br /><searchLink fieldCode="AR" term="%22Turunen%2C+Matias%22">Turunen, Matias</searchLink><br /><searchLink fieldCode="AR" term="%22Talvitie%2C+Jukka%22">Talvitie, Jukka</searchLink><br /><searchLink fieldCode="AR" term="%22Tan%2C+Bo%22">Tan, Bo</searchLink><br /><searchLink fieldCode="AR" term="%22Keskin%2C+Musa+Furkan%22">Keskin, Musa Furkan</searchLink>, 1988<br /><searchLink fieldCode="AR" term="%22Wymeersch%2C+Henk%22">Wymeersch, Henk</searchLink>, 1976<br /><searchLink fieldCode="AR" term="%22Valkama%2C+M%2E%22">Valkama, M.</searchLink>
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  Data: <i>5G mobil positionering för fordonssäkerhet Hårdvarumedveten integrerad lokalisering och avkänning för kommunikationssystem IEEE Journal on Selected Areas in Communications Millimeter-Wave Radio SLAM: 60 GHz Indoor Sensing Dataset</i>. 42(9):2550-2567
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  Data: <searchLink fieldCode="DE" term="%22simultaneous+localization+and+mapping%22">simultaneous localization and mapping</searchLink><br /><searchLink fieldCode="DE" term="%22millimeter-wave+networks%22">millimeter-wave networks</searchLink><br /><searchLink fieldCode="DE" term="%22integrated+sensing+and+communications%22">integrated sensing and communications</searchLink><br /><searchLink fieldCode="DE" term="%22Channel+estimation%22">Channel estimation</searchLink><br /><searchLink fieldCode="DE" term="%22Antenna+measurements%22">Antenna measurements</searchLink><br /><searchLink fieldCode="DE" term="%225G%22">5G</searchLink><br /><searchLink fieldCode="DE" term="%226G%22">6G</searchLink><br /><searchLink fieldCode="DE" term="%22Millimeter+wave+communication%22">Millimeter wave communication</searchLink><br /><searchLink fieldCode="DE" term="%22Simultaneous+localization+and+mapping%22">Simultaneous localization and mapping</searchLink><br /><searchLink fieldCode="DE" term="%22Robustness%22">Robustness</searchLink><br /><searchLink fieldCode="DE" term="%22Antennas%22">Antennas</searchLink><br /><searchLink fieldCode="DE" term="%22Parameter+estimation%22">Parameter estimation</searchLink>
– Name: Abstract
  Label: Description
  Group: Ab
  Data: In this article, we address the timely topic of cellular bistatic simultaneous localization and mapping (SLAM) with specific focus on end-to-end processing solutions, from raw I/Q samples, via channel parameter estimation to user equipment (UE) and landmark location information in millimeter-wave (mmWave) networks, with minimal prior knowledge. Firstly, we propose a new multipath channel parameter estimation solution that operates directly with beam reference signal received power (BRSRP) measurements, alleviating the need to know the true antenna beam-patterns or the underlying beamforming weights. Additionally, the method has built-in robustness against unavoidable antenna sidelobes. Secondly, we propose new snapshot SLAM algorithms that have increased robustness and identifiability compared to prior art, in practical built environments with complex clutter and multi-bounce propagation scenarios, and do not rely on any a priori motion model. The performance of the proposed methods is assessed at the 60GHz mmWave band, via both realistic ray-tracing evaluations as well as true experimental measurements, in an indoor environment. A wide set of offered results demonstrate the improved performance, compared to the relevant prior art, in terms of the channel parameter estimation as well as the end-to-end SLAM performance. Finally, the article provides the measured 60GHz data openly available for the research community, facilitating results reproducibility as well as further algorithm development.
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RecordInfo BibRecord:
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        Value: 10.1109/JSAC.2024.3413995
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      – Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 18
        StartPage: 2550
    Subjects:
      – SubjectFull: simultaneous localization and mapping
        Type: general
      – SubjectFull: millimeter-wave networks
        Type: general
      – SubjectFull: integrated sensing and communications
        Type: general
      – SubjectFull: Channel estimation
        Type: general
      – SubjectFull: Antenna measurements
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      – SubjectFull: 5G
        Type: general
      – SubjectFull: 6G
        Type: general
      – SubjectFull: Millimeter wave communication
        Type: general
      – SubjectFull: Simultaneous localization and mapping
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      – SubjectFull: Robustness
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      – SubjectFull: Antennas
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      – SubjectFull: Parameter estimation
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      – TitleFull: Millimeter-wave Radio SLAM: End-to-End Processing Methods and Experimental Validation
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              Y: 2024
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            – TitleFull: 5G mobil positionering för fordonssäkerhet Hårdvarumedveten integrerad lokalisering och avkänning för kommunikationssystem IEEE Journal on Selected Areas in Communications Millimeter-Wave Radio SLAM: 60 GHz Indoor Sensing Dataset
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