3D Wall-Feature Radio GraphSLAM

SCAN 01 / 12 PREDICT

STEP 1 OF 4

Anchor the first pose

Insert the prior on the first UE pose. The calibrated base station is a fixed argument, not an optimized node.

f^prior(x₀)

Trajectory timet = 0

Teaching boundary

Deterministic collision-free trajectory with LoS, S1, and ordered S2 paths from the two outer walls. The final revisit adds an explicit pose-to-pose loop-closure factor.

WORLD FRAME F^W

Trajectory and evolving finite-wall map

Poses: 1
Walls: 0 / 2
Factors: 1

Reference geometry Current radio paths Wall normals

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estimated trajectory S1 path S2 path loop closure wall-factor prediction estimated wall bounce q_t,j reference

THIS STEP Prior fixes the gauge

Without one anchored pose, the entire trajectory and map can move together.