Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userA Belief Propagation Algorithm for Multipath-Based SLAM
79
0
0.0
(
0
)
Added by
Erik Leitinger
Publication date
2018
fields
Informatics Engineering
and research's language is
English
Ask ChatGPT about the research
No Arabic abstract
We present a simultaneous localization and mapping (SLAM) algorithm that is based on radio signals and the association of specular multipath components (MPCs) with geometric features. Especially in indoor scenarios, robust localization from radio signals is challenging due to diffuse multipath propagation, unknown MPC-feature association, and limited visibility of features. In our approach, specular reflections at flat surfaces are described in terms of virtual anchors (VAs) that are mirror images of the physical anchors (PAs). The positions of these VAs and possibly also of the PAs are unknown. We develop a Bayesian model of the SLAM problem and represent it by a factor graph, which enables the use of belief propagation (BP) for efficient marginalization of the joint posterior distribution. The resulting BP-based SLAM algorithm detects the VAs associated with the PAs and estimates jointly the time-varying position of the mobile agent and the positions of the VAs and possibly also of the PAs, thereby leveraging the MPCs in the radio signal for improved accuracy and robustness of agent localization. The algorithm has a low computational complexity and scales well in all relevant system parameters. Experimental results using both synthetic measurements and real ultra-wideband radio signals demonstrate the excellent performance of the algorithm in challenging indoor environments.
rate research
Read More
This paper proposes a belief propagation (BP)-based algorithm for sequential detection and estimation of multipath components (MPCs) parameters based on radio signals. Under dynamic channel conditions with moving transmitter and/or receiver, the number of MPCs reflected from visible geometric features, the MPC dispersion parameters (delay, angle, Doppler frequency, etc), and the number of false alarm contributions are unknown and time-varying. We develop a Bayesian model for sequential detection and estimation of MPC dispersion parameters, and represent it by a factor graph enabling the use of BP for efficient computation of the marginal posterior distributions. At each time instance, a snapshot-based channel estimator provides parameter estimates of a set of MPCs which are used as noisy measurements by the proposed BP-based algorithm. It performs joint probabilistic data association, estimation of the time-varying MPC parameters, and the mean number of false alarm measurements by means of the sum-product algorithm rules. The results using synthetic measurements show that the proposed algorithm is able to cope with a high number of false alarm measurements originating from the snapshot-based channel estimator and to sequentially detect and estimate MPCs parameters with very low signal-to-noise ratio (SNR). The performance of the proposed algorithm compares well to existing algorithms for high SNR MPCs, but significantly it outperforms them for medium or low SNR MPCs. In particular, we show that our algorithm outperforms the Kalman enhanced super resolution tracking (KEST) algorithm, a state-of-the-art sequential channel parameters estimation method. Furthermore, results with real radio measurements demonstrate the excellent performance of the algorithm in realistic and challenging scenarios.
Gaussian belief propagation (GaBP) is an iterative message-passing algorithm for inference in Gaussian graphical models. It is known that when GaBP converges it converges to the correct MAP estimate of the Gaussian random vector and simple sufficient conditions for its convergence have been established. In this paper we develop a double-loop algorithm for forcing convergence of GaBP. Our method computes the correct MAP estimate even in cases where standard GaBP would not have converged. We further extend this construction to compute least-squares solutions of over-constrained linear systems. We believe that our construction has numerous applications, since the GaBP algorithm is linked to solution of linear systems of equations, which is a fundamental problem in computer science and engineering. As a case study, we discuss the linear detection problem. We show that using our new construction, we are able to force convergence of Montanaris linear detection algorithm, in cases where it would originally fail. As a consequence, we are able to increase significantly the number of users that can transmit concurrently.
A low-density parity-check (LDPC) code is a linear block code described by a sparse parity-check matrix, which can be efficiently represented by a bipartite Tanner graph. The standard iterative decoding algorithm, known as belief propagation, passes messages along the edges of this Tanner graph. Density evolution is an efficient method to analyze the performance of the belief propagation decoding algorithm for a particular LDPC code ensemble, enabling the determination of a decoding threshold. The basic problem addressed in this work is how to optimize the Tanner graph so that the decoding threshold is as large as possible. We introduce a new code optimization technique which involves the search space range which can be thought of as minimizing randomness in differential evolution or limiting the search range in exhaustive search. This technique is applied to the design of good irregular LDPC codes and multiedge type LDPC codes.
In this paper, we investigate distributed inference schemes, over binary-valued Markov random fields, which are realized by the belief propagation (BP) algorithm. We first show that a decision variable obtained by the BP algorithm in a network of distributed agents can be approximated by a linear fusion of all the local log-likelihood ratios. The proposed approach clarifies how the BP algorithm works, simplifies the statistical analysis of its behavior, and enables us to develop a performance optimization framework for the BP-based distributed inference systems. Next, we propose a blind learning-adaptation scheme to optimize the system performance when there is no information available a priori describing the statistical behavior of the wireless environment concerned. In addition, we propose a blind threshold adaptation method to guarantee a certain performance level in a BP-based distributed detection system. To clarify the points discussed, we design a novel linear-BP-based distributed spectrum sensing scheme for cognitive radio networks and illustrate the performance improvement obtained, over an existing BP-based detection method, via computer simulations.
We introduce a two-stage decimation process to improve the performance of neural belief propagation (NBP), recently introduced by Nachmani et al., for short low-density parity-check (LDPC) codes. In the first stage, we build a list by iterating between a conventional NBP decoder and guessing the least reliable bit. The second stage iterates between a conventional NBP decoder and learned decimation, where we use a neural network to decide the decimation value for each bit. For a (128,64) LDPC code, the proposed NBP with decimation outperforms NBP decoding by 0.75 dB and performs within 1 dB from maximum-likelihood decoding at a block error rate of $10^{-4}$.
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
