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Cooperative mmWave PHD-SLAM with Moving Scatterers
- Authors
- Kim, Hyowon; Lee, Jaebok; Ge, Yu; Jiang, Fan; Kim, Sunwoo; Wymeersch, Henk
- Issue Date
- Jul-2022
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- ALGORITHMS; TRACKING; FILTER
- Citation
- 2022 25th International Conference on Information Fusion, FUSION 2022, pp.1 - 6
- Indexed
- SCIE
SCOPUS
- Journal Title
- 2022 25th International Conference on Information Fusion, FUSION 2022
- Start Page
- 1
- End Page
- 6
- ISSN
- 0000-0000
- Abstract
- Simultaneous localization and mapping (SLAM) using multipath at mmWave frequencies can provide accurate localization in the presence of static landmarks. When radio signals reflected from moving vehicle scatterers (VSs) are observed, the standard SLAM filters exhibit a degraded performance. To address this problem, we propose a probability hypothesis density (PHD)-based SLAM filter, where separate maps are maintained for VS and other types of landmarks. Through a combination of developed (i) local PHD-SLAM and (ii) global map fusion, we demonstrate that the proposed filter can handle the problem.
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Related Researcher
- Kim, Sunwoo
- COLLEGE OF ENGINEERING (SCHOOL OF ELECTRONIC ENGINEERING)