{"ID":5937179,"CreatedAt":"2026-07-07T03:14:33.014478982Z","UpdatedAt":"2026-07-09T09:13:40.815446834Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.04847","arxiv_id":"2607.04847","title":"Amplitude-Independent Robust Snapshot 6-D Radio SLAM via a Uniffed Angle-Delay Formulation","abstract":"This paper addresses bistatic snapshot radio SLAM, in which a user equipment (UE) with unknown 6-D pose and clock bias is localized and environmental landmarks are reconstructed from a single multipath channel snapshot. Under mixed line-of-sight (LoS)/non-line-of-sight (NLoS) propagation, existing robust snapshot SLAM methods are mainly developed or validated in planar/2-D settings and often use path-amplitude or path-loss information for LoS handling, which makes them sensitive to calibration errors and propagation-model mismatch. We propose an amplitude-independent robust radio SLAM method built on a uniffed angle-delay formulation for LoS and single-bounce NLoS inlier paths. In the coarse stage, the method estimates the UE state and selects geometrically consistent inliers directly from angle-delay measurements, without amplitudebased LoS preclassiffcation or path-wise latent variables; the formulation is further extended to general 3-D/6-D pose estimation through twist-swing two-stage traversal initialization and local reffnement on SO(3). A subsequent Jacobian-row-equilibrated iteratively reweighted least-squares (IRLS) reffnement, combined with quasi-Akaike information criterion (QAIC) model comparison, detects the LoS path and jointly reffnes the UE state and scattering points. We also analyze formulation-speciffc local-rank properties and their minimal-set implications under unknown path identity. Simulations show that the proposed method remains competitive with calibrated amplitude-dependent baselines and is more robust to path-loss-model mismatch.","short_abstract":"This paper addresses bistatic snapshot radio SLAM, in which a user equipment (UE) with unknown 6-D pose and clock bias is localized and environmental landmarks are reconstructed from a single multipath channel snapshot. Under mixed line-of-sight (LoS)/non-line-of-sight (NLoS) propagation, existing robust snapshot SLAM...","url_abs":"https://arxiv.org/abs/2607.04847","url_pdf":"https://arxiv.org/pdf/2607.04847v1","authors":"[\"Shengqiang Shen\",\"Aoyun Hao\",\"Weihao Geng\",\"Lei Yang\",\"Shiyin Li\",\"Henk Wymeersch\"]","published":"2026-07-06T09:18:40Z","proceeding":"eess.SP","tasks":"[\"eess.SP\"]","methods":"[]","has_code":false}