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.
2018 IEEE 29th Annual International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC) , pages =
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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.