A Belief Propagation Algorithm for Multipath-Based SLAM with Multiple Map Features: A mmWave MIMO Application

In this paper, we present a multipath-based simultaneous localization and mapping (SLAM) algorithm that con-tinuously adapts mulitiple map feature (MF) models describing specularly reflected multi path components (MPCs) from flat surfaces and point-scattered MPCs, respectively. We develop a Bayesian model for sequential detection and estimation of interacting MF model parameters, MF states and mobile agent's state including position and orientation. The Bayesian model is represented by a factor graph enabling the use of belief propagation (BP) for efficient computation of the marginal posterior distributions. The algorithm also exploits amplitude information enabling reliable detection of 'weak' MFs asso-ciated with MPCs of very low signal-to-noise ratios (SNRs). The performance of the proposed algorithm is evaluated using real millimeter-wave (mm Wave) multiple-input-multiple-output (MIMO) measurements with single base station setup. Results demonstrate the excellent localization and mapping performance of the proposed algorithm in challenging dynamic outdoor scenarios.