A scalable coherent MP-SLAM method uses a phase-preserving nonzero-mean Type-II likelihood with shared complex mean across arrays plus an SFV model to achieve robust localization and mapping directly from raw signals, outperforming noncoherent baselines in simulations.
Marzetta and Erik G
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Coherent Direct Multipath SLAM
A scalable coherent MP-SLAM method uses a phase-preserving nonzero-mean Type-II likelihood with shared complex mean across arrays plus an SFV model to achieve robust localization and mapping directly from raw signals, outperforming noncoherent baselines in simulations.