{"id":"https://openalex.org/W2903854276","doi":"https://doi.org/10.1109/twc.2019.2937781","title":"A Belief Propagation Algorithm for Multipath-Based SLAM","display_name":"A Belief Propagation Algorithm for Multipath-Based SLAM","publication_year":2019,"publication_date":"2019-09-04","ids":{"openalex":"https://openalex.org/W2903854276","doi":"https://doi.org/10.1109/twc.2019.2937781","mag":"2903854276"},"language":"en","primary_location":{"id":"doi:10.1109/twc.2019.2937781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/twc.2019.2937781","pdf_url":null,"source":{"id":"https://openalex.org/S63459445","display_name":"IEEE Transactions on Wireless Communications","issn_l":"1536-1276","issn":["1536-1276","1558-2248"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Wireless Communications","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1801.04463","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010718972","display_name":"Erik Leitinger","orcid":"https://orcid.org/0000-0003-1048-4849"},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Erik Leitinger","raw_affiliation_strings":["Signal Processing and Speech Communication Laboratory, Graz University of Technology, Graz, Austria"],"raw_orcid":"https://orcid.org/0000-0003-1048-4849","affiliations":[{"raw_affiliation_string":"Signal Processing and Speech Communication Laboratory, Graz University of Technology, Graz, Austria","institution_ids":["https://openalex.org/I4092182"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077882926","display_name":"Florian Meyer","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Florian Meyer","raw_affiliation_strings":["Wireless Information and Network Sciences Laboratory, Massachusetts Institute of Technology, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0001-6985-2250","affiliations":[{"raw_affiliation_string":"Wireless Information and Network Sciences Laboratory, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036535440","display_name":"Franz Hlawatsch","orcid":"https://orcid.org/0000-0001-9010-9285"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]},{"id":"https://openalex.org/I60587646","display_name":"Brno University of Technology","ror":"https://ror.org/03613d656","country_code":"CZ","type":"education","lineage":["https://openalex.org/I60587646"]}],"countries":["AT","CZ"],"is_corresponding":false,"raw_author_name":"Franz Hlawatsch","raw_affiliation_strings":["Brno University of Technology, Brno, Czech Republic","Institute of Telecommunications, TU Wien, Vienna, Austria"],"raw_orcid":"https://orcid.org/0000-0001-9010-9285","affiliations":[{"raw_affiliation_string":"Brno University of Technology, Brno, Czech Republic","institution_ids":["https://openalex.org/I60587646"]},{"raw_affiliation_string":"Institute of Telecommunications, TU Wien, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051680902","display_name":"Klaus Witrisal","orcid":"https://orcid.org/0000-0002-1056-2133"},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Klaus Witrisal","raw_affiliation_strings":["Signal Processing and Speech Communication Laboratory, Graz University of Technology, Graz, Austria"],"raw_orcid":"https://orcid.org/0000-0002-1056-2133","affiliations":[{"raw_affiliation_string":"Signal Processing and Speech Communication Laboratory, Graz University of Technology, Graz, Austria","institution_ids":["https://openalex.org/I4092182"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073439066","display_name":"Fredrik Tufvesson","orcid":"https://orcid.org/0000-0003-1072-0784"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Fredrik Tufvesson","raw_affiliation_strings":["Department of Electrical and Information Technology, Lund University, Lund, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-1072-0784","affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Technology, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067048409","display_name":"Moe Z. Win","orcid":"https://orcid.org/0000-0002-8573-0488"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Moe Z. Win","raw_affiliation_strings":["Wireless Information and Network Sciences Laboratory, Massachusetts Institute of Technology, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0002-8573-0488","affiliations":[{"raw_affiliation_string":"Wireless Information and Network Sciences Laboratory, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5010718972"],"corresponding_institution_ids":["https://openalex.org/I4092182"],"apc_list":null,"apc_paid":null,"fwci":202.1921,"has_fulltext":false,"cited_by_count":238,"citation_normalized_percentile":{"value":0.99973983,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"18","issue":"12","first_page":"5613","last_page":"5629"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.8071960210800171},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7574558258056641},{"id":"https://openalex.org/keywords/belief-propagation","display_name":"Belief propagation","score":0.7309666872024536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7263395190238953},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6446813344955444},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.6444514989852905},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6203716397285461},{"id":"https://openalex.org/keywords/radio-propagation","display_name":"Radio propagation","score":0.4974880516529083},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46692368388175964},{"id":"https://openalex.org/keywords/specular-reflection","display_name":"Specular reflection","score":0.46214020252227783},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.41818636655807495},{"id":"https://openalex.org/keywords/ultra-wideband","display_name":"Ultra-wideband","score":0.41593965888023376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3967397212982178},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2608477473258972},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1657963991165161},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12815850973129272}],"concepts":[{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.8071960210800171},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7574558258056641},{"id":"https://openalex.org/C152948882","wikidata":"https://www.wikidata.org/wiki/Q4060686","display_name":"Belief propagation","level":3,"score":0.7309666872024536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7263395190238953},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6446813344955444},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.6444514989852905},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6203716397285461},{"id":"https://openalex.org/C202311505","wikidata":"https://www.wikidata.org/wiki/Q1474701","display_name":"Radio propagation","level":2,"score":0.4974880516529083},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46692368388175964},{"id":"https://openalex.org/C118381688","wikidata":"https://www.wikidata.org/wiki/Q1079524","display_name":"Specular reflection","level":2,"score":0.46214020252227783},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.41818636655807495},{"id":"https://openalex.org/C21916231","wikidata":"https://www.wikidata.org/wiki/Q851424","display_name":"Ultra-wideband","level":2,"score":0.41593965888023376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3967397212982178},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2608477473258972},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1657963991165161},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12815850973129272},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/twc.2019.2937781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/twc.2019.2937781","pdf_url":null,"source":{"id":"https://openalex.org/S63459445","display_name":"IEEE Transactions on Wireless Communications","issn_l":"1536-1276","issn":["1536-1276","1558-2248"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Wireless Communications","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1801.04463","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1801.04463","pdf_url":"https://arxiv.org/pdf/1801.04463","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:dspace.mit.edu:1721.1/136623","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/136623","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/JournalArticle"},{"id":"pmh:oai:lup.lub.lu.se:86a8bb37-7278-43a8-a61f-77ed0c6cb050","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/86a8bb37-7278-43a8-a61f-77ed0c6cb050","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 1536-1276","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1801.04463","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1801.04463","pdf_url":"https://arxiv.org/pdf/1801.04463","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.800000011920929}],"awards":[{"id":"https://openalex.org/G3051075129","display_name":null,"funder_award_id":"J 4027","funder_id":"https://openalex.org/F4320321181","funder_display_name":"Austrian Science Fund"},{"id":"https://openalex.org/G338708027","display_name":null,"funder_award_id":"17-19638S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G4339212007","display_name":null,"funder_award_id":"P 32055-N31","funder_id":"https://openalex.org/F4320321181","funder_display_name":"Austrian Science Fund"},{"id":"https://openalex.org/G6878747140","display_name":null,"funder_award_id":"J 3886","funder_id":"https://openalex.org/F4320321181","funder_display_name":"Austrian Science Fund"},{"id":"https://openalex.org/G6932218069","display_name":null,"funder_award_id":"70NANB17H17","funder_id":"https://openalex.org/F4320332178","funder_display_name":"National Institute of Standards and Technology"},{"id":"https://openalex.org/G84891148","display_name":null,"funder_award_id":"P 27370-N30","funder_id":"https://openalex.org/F4320321181","funder_display_name":"Austrian Science Fund"}],"funders":[{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"},{"id":"https://openalex.org/F4320321181","display_name":"Austrian Science Fund","ror":"https://ror.org/013tf3c58"},{"id":"https://openalex.org/F4320332178","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W250076511","https://openalex.org/W1169895386","https://openalex.org/W1493151452","https://openalex.org/W1531532259","https://openalex.org/W1557595030","https://openalex.org/W1864293175","https://openalex.org/W1965392255","https://openalex.org/W2000637847","https://openalex.org/W2003300141","https://openalex.org/W2028082528","https://openalex.org/W2043984641","https://openalex.org/W2056351724","https://openalex.org/W2075744751","https://openalex.org/W2094728544","https://openalex.org/W2095522552","https://openalex.org/W2099287185","https://openalex.org/W2101374845","https://openalex.org/W2110012495","https://openalex.org/W2111414586","https://openalex.org/W2113891116","https://openalex.org/W2117206394","https://openalex.org/W2126885789","https://openalex.org/W2133471728","https://openalex.org/W2135647798","https://openalex.org/W2137813581","https://openalex.org/W2143864104","https://openalex.org/W2146881125","https://openalex.org/W2148820580","https://openalex.org/W2150846284","https://openalex.org/W2150859678","https://openalex.org/W2152255870","https://openalex.org/W2154616225","https://openalex.org/W2157316965","https://openalex.org/W2167582467","https://openalex.org/W2169346523","https://openalex.org/W2243507760","https://openalex.org/W2270755773","https://openalex.org/W2296150501","https://openalex.org/W2296664252","https://openalex.org/W2327669095","https://openalex.org/W2336416123","https://openalex.org/W2339230339","https://openalex.org/W2389510147","https://openalex.org/W2412917545","https://openalex.org/W2507805920","https://openalex.org/W2510844205","https://openalex.org/W2511568459","https://openalex.org/W2554612623","https://openalex.org/W2594299295","https://openalex.org/W2725938612","https://openalex.org/W2750632489","https://openalex.org/W2762234239","https://openalex.org/W2783217963","https://openalex.org/W2783251471","https://openalex.org/W2786070790","https://openalex.org/W2883152037","https://openalex.org/W2889143552","https://openalex.org/W2889533944","https://openalex.org/W2945747947","https://openalex.org/W2964279294","https://openalex.org/W3101703006","https://openalex.org/W3104150103","https://openalex.org/W3144507206","https://openalex.org/W3164556821","https://openalex.org/W6627589335","https://openalex.org/W6633511732","https://openalex.org/W6682187704","https://openalex.org/W6682324061","https://openalex.org/W6682557382","https://openalex.org/W6725276814","https://openalex.org/W6747676855","https://openalex.org/W6795775795"],"related_works":["https://openalex.org/W3152713649","https://openalex.org/W3009052662","https://openalex.org/W26187695","https://openalex.org/W2122977448","https://openalex.org/W2124250880","https://openalex.org/W2114758843","https://openalex.org/W2150312244","https://openalex.org/W4301665663","https://openalex.org/W1981023414","https://openalex.org/W2143515091"],"abstract_inverted_index":{"We":[0,88],"present":[1],"a":[2,90,101,173],"simultaneous":[3],"localization":[4,31],"and":[5,15,45,80,97,132,142,148,165,177,191],"mapping":[6],"(SLAM)":[7],"algorithm":[8,124,171,202],"that":[9,66],"is":[10,35],"based":[11],"on":[12],"radio":[13,33,160,194],"signals":[14,34,195],"the":[16,71,84,94,106,116,126,130,135,139,143,146,152,156,159,197,201],"association":[17],"of":[18,48,62,70,77,83,93,108,115,138,145,151,167,200],"specular":[19,53],"multipath":[20,40],"components":[21],"(MPCs)":[22],"with":[23,129],"geometric":[24],"features.":[25,49],"Especially":[26],"in":[27,60,158,180,203],"indoor":[28,205],"scenarios,":[29],"robust":[30],"from":[32],"challenging":[36,204],"due":[37],"to":[38],"diffuse":[39],"propagation,":[41],"unknown":[42],"MPC-feature":[43],"association,":[44],"limited":[46],"visibility":[47],"In":[50],"our":[51],"approach,":[52],"reflections":[54],"at":[55],"flat":[56],"surfaces":[57],"are":[58,67,86],"described":[59],"terms":[61],"virtual":[63],"anchors":[64,73],"(VAs)":[65],"mirror":[68],"images":[69],"physical":[72],"(PAs).":[74],"The":[75,120,170],"positions":[76,144],"these":[78],"VAs":[79,127,147],"possibly":[81,149],"also":[82,150],"PAs":[85,131],"unknown.":[87],"develop":[89],"Bayesian":[91],"model":[92],"SLAM":[95,123],"problem":[96],"represent":[98],"it":[99],"by":[100],"factor":[102],"graph,":[103],"which":[104],"enables":[105],"use":[107],"belief":[109],"propagation":[110],"(BP)":[111],"for":[112,162],"efficient":[113],"marginalization":[114],"joint":[117],"posterior":[118],"distribution.":[119],"resulting":[121],"BP-based":[122],"detects":[125],"associated":[128],"estimates":[133],"jointly":[134],"time-varying":[136],"position":[137],"mobile":[140],"agent":[141,168],"PAs,":[153],"thereby":[154],"leveraging":[155],"MPCs":[157],"signal":[161],"improved":[163],"accuracy":[164],"robustness":[166],"localization.":[169],"has":[172],"low":[174],"computational":[175],"complexity":[176],"scales":[178],"well":[179],"all":[181],"relevant":[182],"system":[183],"parameters.":[184],"Experimental":[185],"results":[186],"using":[187],"both":[188],"synthetic":[189],"measurements":[190],"real":[192],"ultra-wideband":[193],"demonstrate":[196],"excellent":[198],"performance":[199],"environments.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":40},{"year":2024,"cited_by_count":32},{"year":2023,"cited_by_count":47},{"year":2022,"cited_by_count":35},{"year":2021,"cited_by_count":40},{"year":2020,"cited_by_count":24},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2025-10-10T00:00:00"}