Joint CKF-PHD Filter and Map Fusion for 5G Multi-cell SLAM Article Swipe
Hyowon Kim
,
Karl Granström
,
Lin Gao
,
Giorgio Battistelli
,
Sunwoo Kim
,
Henk Wymeersch
·
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.1109/icc40277.2020.9149211
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.1109/icc40277.2020.9149211
5G is expected to enable simultaneous vehicle localization and environment mapping (SLAM). Furthermore, vehicular networks will be covered with 5G small cells, wherein the map information is collected at each base station (BS) and then fused so as to promote the overall performance of SLAM. In 5G multi-cell SLAM, there are challenges such as the unknown number of targets, uncertainty regarding the association between the targets and the measurements, unknown types of targets, as well as map management among BSs. To address those challenges, we propose a new method for 5G multi-cell SLAM which comprises a joint cubature Kalman filter and multi-model probability hypothesis density, and a map fusion routine. Simulation results demonstrate that the proposed method solves the aforementioned challenges and also improves vehicle state and map estimates.
Related Topics
Concepts
Simultaneous localization and mapping
Data association
Computer science
Kalman filter
Joint (building)
Sensor fusion
Artificial intelligence
Filter (signal processing)
Base station
Extended Kalman filter
State (computer science)
Computer vision
Mobile robot
Algorithm
Engineering
Robot
Telecommunications
Architectural engineering
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/icc40277.2020.9149211
- OA Status
- green
- Cited By
- 11
- References
- 31
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3045922638
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3045922638Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1109/icc40277.2020.9149211Digital Object Identifier
- Title
-
Joint CKF-PHD Filter and Map Fusion for 5G Multi-cell SLAMWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2020Year of publication
- Publication date
-
2020-06-01Full publication date if available
- Authors
-
Hyowon Kim, Karl Granström, Lin Gao, Giorgio Battistelli, Sunwoo Kim, Henk WymeerschList of authors in order
- Landing page
-
https://doi.org/10.1109/icc40277.2020.9149211Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://research.chalmers.se/publication/522616/file/522616_Fulltext.pdfDirect OA link when available
- Concepts
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Simultaneous localization and mapping, Data association, Computer science, Kalman filter, Joint (building), Sensor fusion, Artificial intelligence, Filter (signal processing), Base station, Extended Kalman filter, State (computer science), Computer vision, Mobile robot, Algorithm, Engineering, Robot, Telecommunications, Architectural engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
11Total citation count in OpenAlex
- Citations by year (recent)
-
2024: 1, 2023: 1, 2022: 5, 2021: 4Per-year citation counts (last 5 years)
- References (count)
-
31Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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