Multipath-based SLAM with Cooperation and Map Fusion

Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising approach in wireless networks for obtaining position information of transmitters and receivers as well as information on the propagation environment. MP-SLAM models specular reflections of radio frequency (RF) signals at flat surfaces as virtual anchors (VAs), the mirror images of base stations (BSs). Conventional methods for MP-SLAM consider a single mobile terminal (MT) which has to be localized. The availability of additional MTs paves the way for utilizing additional information in the scenario. Specifically enabling MTs to exchange information allows for data fusion over different observations of VAs made by different MTs. Furthermore, cooperative localization becomes possible in addition to multipath-based localization. Utilizing this additional information enables more robust mapping and higher localization accuracy.