Massive MIMO-based Localization and Mapping Exploiting Phase Information of Multipath Components

In this paper, we present a robust multipath-based localization and mapping framework that exploits the phases of specular multipath components (MPCs) using a massive multiple-input multiple-output (MIMO) array at the base station. Utilizing the phase information related to the propagation distances of the MPCs enables the possibility of localization with extraordinary accuracy even with limited bandwidth. The specular MPC parameters along with the parameters of the noise and the dense multipath component (DMC) are tracked using an extended Kalman filter (EKF), which enables to preserve the distance-related phase changes of the MPC complex amplitudes. The DMC comprises all non-resolvable MPCs, which occur due to finite measurement aperture. The estimation of the DMC parameters enhances the estimation quality of the specular MPCs and therefore also the quality of localization and mapping. The estimated MPC propagation distances are subsequently used as input to a distance-based localization and mapping algorithm. This algorithm does not need prior knowledge about the surrounding environment and base station position. The performance is demonstrated with real radio-channel measurements using an antenna array with 128 ports at the base station side and a standard cellular signal bandwidth of 40 MHz. The results show that high accuracy localization is possible even with such a low bandwidth.Comment: 14 pages (two columns), 13 figures. This work has been submitted to the IEEE Transaction on Wireless Communications for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessibl

Salience-based selection: attentional capture by distractors less salient than the target

Current accounts of attentional capture predict the most salient stimulus to be invariably selected first. However, existing salience and visual search models assume noise in the map computation or selection process. Consequently, they predict the first selection to be stochastically dependent on salience, implying that attention could even be captured first by the second most salient (instead of the most salient) stimulus in the field. Yet, capture by less salient distractors has not been reported and salience-based selection accounts claim that the distractor has to be more salient in order to capture attention. We tested this prediction using an empirical and modeling approach of the visual search distractor paradigm. For the empirical part, we manipulated salience of target and distractor parametrically and measured reaction time interference when a distractor was present compared to absent. Reaction time interference was strongly correlated with distractor salience relative to the target. Moreover, even distractors less salient than the target captured attention, as measured by reaction time interference and oculomotor capture. In the modeling part, we simulated first selection in the distractor paradigm using behavioral measures of salience and considering the time course of selection including noise. We were able to replicate the result pattern we obtained in the empirical part. We conclude that each salience value follows a specific selection time distribution and attentional capture occurs when the selection time distributions of target and distractor overlap. Hence, selection is stochastic in nature and attentional capture occurs with a certain probability depending on relative salience