# Exploiting Diffuse Multipath in 5G SLAM

arXiv: https://arxiv.org/abs/2006.15603 · HTML: https://mlsanity.com/paper/2006.15603/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Jun 2020.

## Built on by (most cited first, 1 of 1)

- [Neural RF SLAM for unsupervised positioning and mapping with channel state information](https://mlsanity.com/paper/2203.08264/) (2022)

## Abstract (arXiv)

5G millimeter wave (mmWave) signals can be used to jointly localize the receiver and map the propagation environment in vehicular networks, which is a typical simultaneous localization and mapping (SLAM) problem. Mapping the environment is challenging, due to measurements comprising both specular and diffuse multipath components, and diffuse multipath is usually considered as a perturbation. We here propose a novel method to utilize all available multipath signals from each landmark for mapping and incorporate this into a Poisson multi-Bernoulli mixture for the 5G SLAM problem. Simulation results demonstrate the efficacy of the proposed scheme.