Abstract
Millimeter-wave (mmWave) is regarded as a promising technique for accurate simultaneous localization and mapping (SLAM). However, the implementation of a massive antenna array and the extensiveness of mmWave anchor deployment significantly increase the cost of the whole system, and thus mmWave is still not considered in commercial localization scenarios. In this paper, a low-cost and highly efficient mmWave-based SLAM scheme is proposed to address the above limitations. Concretely, mmWave-based sensing is leveraged to obtain the locations of obstacles. Then, multi-user landmark association and fast map merging are performed for accurate global map construction. The simulation and experimental results show that the proposed framework achieves submeter-level mapping accuracy and provides new insight into efficiently designing a SLAM system that meets the stated requirements. © 2023 Elsevier B.V.
| Original language | English |
|---|---|
| Article number | 109018 |
| Journal | Signal Processing |
| Volume | 209 |
| Online published | 17 Mar 2023 |
| DOIs | |
| Publication status | Published - Aug 2023 |
Funding
This work was supported by a grant from the Research Grants Council of the Hong Kong Special Administrative Region, China (Project No. CityU 11201421), and in part by the NSFC under Grant No. 62271433 and Shenzhen Science and Technology Program under Grant No. RCJC20210609104448114.
Research Keywords
- Low-cost implementation
- Millimeter-wave sensing
- Simultaneous localization and mapping
RGC Funding Information
- RGC-funded
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Dive into the research topics of 'A framework for millimeter-wave multi-user SLAM and its low-cost realization'. Together they form a unique fingerprint.Projects
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GRF: Massive Access over an OFDM Platform
CHAN, C. H. S. (Principal Investigator / Project Coordinator) & LI, P. (Co-Investigator)
1/01/22 → 22/12/25
Project: Research
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