A framework for millimeter-wave multi-user SLAM and its low-cost realization

Millimeter-wave (mmWave) is regarded as a promising technique for accurate simultaneous localization and mapping (SLAM). However, the implementation of a massive antenna array and the extensiveness of mmWave anchor deployment significantly increase the cost of the whole system, and thus mmWave is still not considered in commercial localization scenarios. In this paper, a low-cost and highly efficient mmWave-based SLAM scheme is proposed to address the above limitations. Concretely, mmWave-based sensing is leveraged to obtain the locations of obstacles. Then, multi-user landmark association and fast map merging are performed for accurate global map construction. The simulation and experimental re-sults show that the proposed framework achieves submeter-level mapping accuracy and provides new insight into efficiently designing a SLAM system that meets the stated requirements.(c) 2023 Elsevier B.V. All rights reserved.