Exploiting Diffuse Multipath in 5G SLAM

5G millimeter wave (mmWave) signals can be used to jointly localize the receiver and map the propagation environment in vehicular networks, which is a typical simultaneous localization and mapping (SLAM) problem. Mapping the environment is challenging, due to measurements comprising both specular and diffuse multipath components, where diffuse multipath is usually considered as a perturbation. We here propose a novel method to utilize all available multipath signals from each landmark for mapping and incorporate this into a Poisson multi-Bernoulli mixture for the 5G SLAM problem. Simulation results demonstrate the efficacy of the proposed scheme.