PMBM-Based SLAM Filters in 5G mmWave Vehicular Networks

Radio-based vehicular simultaneous localization and mapping (SLAM) aims to localize vehicles while mapping the landmarks in the environment. We propose a sequence of three Poisson multi-Bernoulli mixture (PMBM) based SLAM filters, which handle the entire SLAM problem in a theoretically optimal manner. The complexity of the three proposed SLAM filters is progressively reduced while sustaining high accuracy by deriving SLAM density approximation with the marginalization of nuisance parameters (either vehicle state or data association). Firstly, the PMBM SLAM filter serves as the foundation, for which we provide the first complete description based on a Rao-Blackwellized particle filter. Secondly, the Poisson multi-Bernoulli (PMB) SLAM filter is based on the standard reduction from PMBM to PMB, but involves a novel interpretation based on auxiliary variables and a relation to Bethe free energy. Finally, using the same auxiliary variable argument, we derive a marginalized PMB SLAM filter, which avoids particles and is instead implemented with a low-complexity cubature Kalman filter. We evaluate the three proposed SLAM filters in comparison with the probability hypothesis density (PHD) SLAM filter in 5G mmWave vehicular networks and show the computation-performance trade-off between them

Multi-Sensor Multi-Scan Radar Sensing of Multiple Extended Targets

We propose an efficient solution to the state estimation problem in multi-scan multi-sensor multiple extended target sensing scenarios. We first model the measurement process by a doubly inhomogeneous-generalized shot noise Cox process and then estimate the parameters using a jump Markov chain Monte Carlo sampling technique. The proposed approach scales linearly in the number of measurements and can take spatial properties of the sensors into account, herein, sensor noise covariance, detection probability, and resolution. Numerical experiments using radar measurement data suggest that the algorithm offers improvements in high clutter scenarios with closely spaced targets over state-of-the-art clustering techniques used in existing multiple extended target tracking algorithms

Online Audio-Visual Multi-Source Tracking and Separation: A Labeled Random Finite Set Approach

The dissertation proposes an online solution for separating an unknown and time-varying number of moving sources using audio and visual data. The random finite set framework is used for the modeling and fusion of audio and visual data. This enables an online tracking algorithm to estimate the source positions and identities for each time point. With this information, a set of beamformers can be designed to separate each desired source and suppress the interfering sources

5G mmWave Cooperative Positioning and Mapping using Multi-Model PHD Filter and Map Fusion

5G millimeter wave (mmWave) signals can enable accurate positioning in vehicular networks when the base station and vehicles are equipped with large antenna arrays. However, radio-based positioning suffers from multipath signals generated by different types of objects in the physical environment. Multipath can be turned into a benefit, by building up a radio map (comprising the number of objects, object type, and object state) and using this map to exploit all available signal paths for positioning. We propose a new method for cooperative vehicle positioning and mapping of the radio environment, comprising a multiple-model probability hypothesis density filter and a map fusion routine, which is able to consider different types of objects and different fields of views. Simulation results demonstrate the performance of the proposed method.Comment: This work has been accepted in the IEEE Transactions on Wireless Communication

5G mmWave Cooperative Positioning and Mapping Using Multi-Model PHD Filter and Map Fusion

5G millimeter wave (mmWave) signals can enable accurate positioning in vehicular networks when the base station and vehicles are equipped with large antenna arrays. However, radio-based positioning suffers from multipath signals generated by different types of objects in the physical environment. Multipath can be turned into a benefit, by building up a radio map (comprising the number of objects, object type, and object state) and using this map to exploit all available signal paths for positioning. We propose a new method for cooperative vehicle positioning and mapping of the radio environment, comprising a multiple-model probability hypothesis density filter and a map fusion routine, which is able to consider different types of objects and different fields of views. Simulation results demonstrate the performance of the proposed method