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Abstract
In this paper, we present a Bayesian multipath-based simultaneous localization and mapping (SLAM) algorithm that continuously adapts interacting multiple models (IMM) parameters to describe the mobile agent state dynamics. The time-evolution of the IMM parameters is described by a Markov chain and the parameters are incorporated into the factor graph structure that represents the statistical structure of the SLAM problem. The proposed belief propagation (BP)-based algorithm adapts, in an online manner, to time-varying system models by jointly inferring the model parameters along with the agent and map feature states. The performance of the proposed algorithm is finally evaluating with a simulated scenario. Our numerical simulation results show that the proposed multipath-based SLAM algorithm is able to cope with strongly changing agent state dynamics.
Original language | English |
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Title of host publication | 15th European Conference on Antennas and Propagation, EuCAP 2021 |
Place of Publication | Dusseldorf, Germany |
Pages | 1-5 |
Number of pages | 5 |
ISBN (Electronic) | 9788831299022 |
DOIs | |
Publication status | Published - 22 Mar 2021 |
Event | 15th European Conference on Antennas and Propagation: EucAP 2021 - Virtuell, Düsseldorf, Germany Duration: 22 Mar 2021 → 26 Mar 2021 |
Publication series
Name | 15th European Conference on Antennas and Propagation, EuCAP 2021 |
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Conference
Conference | 15th European Conference on Antennas and Propagation |
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Abbreviated title | EucAP 2021 |
Country/Territory | Germany |
City | Virtuell, Düsseldorf |
Period | 22/03/21 → 26/03/21 |
ASJC Scopus subject areas
- Signal Processing
- Instrumentation
- Computer Networks and Communications
Fields of Expertise
- Information, Communication & Computing
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CD-Laboratory for Location-aware Electronic Systems
Witrisal, K. (Co-Investigator (CoI)), Grebien, S. J. (Co-Investigator (CoI)), Fuchs, A. (Co-Investigator (CoI)), Wilding, T. (Co-Investigator (CoI)), Venus, A. (Co-Investigator (CoI)) & Wielandner, L. (Co-Investigator (CoI))
1/01/18 → 31/12/25
Project: Research project