Wi-Loop SLAM: Loop Closures With Wireless Sensing in Multipath SLAM

被引:0
|
作者
Gao, Jiawei [1 ]
Fan, Jiancun [1 ]
Zhai, Shiyu [1 ]
Dai, Gang [2 ]
机构
[1] Xi'an Jiaotong University, School of Information and Communications Engineering, Shaanxi, Xi'an,710049, China
[2] Xi'an Jiaotong University, School of Mathematics and Statistics, Shaanxi, Xi'an,710049, China
基金
中国国家自然科学基金;
关键词
Bayesian networks - Mapping - Multipath propagation - Optical radar - Robotics;
D O I
10.1109/TWC.2024.3426544
中图分类号
学科分类号
摘要
Loop closure detection is an important aspect of simultaneous localization and mapping (SLAM) to correct long-term drift by finding overlapping trajectories. However, in multipath SLAM using radio signals, due to the limitation of low-resolution sensors and few features, most of the existing works have not fully explored loop closure. In this paper, we propose a loop closure detection algorithm for multipath SLAM, Wi-Loop SLAM, that can reduce cumulative errors. To recognize previously visited places, we use the multipath parameters extracted from received signals as matching features without introducing new information. We use a delayed selection strategy to ensure that the most appropriate pairing is selected, and a confirmation of location drift is required to minimize unnecessary computation. Finally, we derive a Bayesian model to perform loop optimization with the particle-based sum-product algorithm (SPA). Simulation results show that the proposed Wi-Loop SLAM can correct the state estimate drift in the environment where propagation paths are often obscured. © 2024 IEEE.
引用
收藏
页码:15185 / 15197
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