When Simultaneous Localization and Mapping Meets Wireless Communications: A Survey

IF 50.6 1区计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Communications Surveys and Tutorials Pub Date : 2026-01-01 Epub Date: 2026-06-25 DOI:10.1109/COMST.2026.3707294

Konstantinos Gounis;Sotiris A. Tegos;Dimitrios Tyrovolas;Panagiotis D. Diamantoulakis;George K. Karagiannidis

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引用次数: 0

Abstract

The availability of commercial wireless communication and sensing equipment combined with the advancements in intelligent autonomous systems scontribute to robust joint communications and simultaneous localization and mapping (SLAM). Autonomous vehicles are one of the several applications that directly benefit from millimeter-wave (mmWave) access, facilitating improved communications and accurate localization in the interest of control and navigation. This paper surveys the state-of-the-art in the intersection of SLAM and Wireless Communications, attributing the bidirectional impact of each with a focus on visual SLAM (V-SLAM) integration. We provide an overview of key concepts related to geometric channel modeling, and radio frequency (RF)-based localization and sensing. Several research directions are considered, including the interpretation of SLAM as a unified perception-estimation framework driven by wireless communications-based positioning and visual information, the integration of communication-aware objectives in active perception, and multi-modal odometry through the fusion of wireless measurements and complementary sensing modalities. We analyze estimation and control approaches such as Bayesian filters, feature-based pose estimation, perception-aware motion control, spatial methods for signal processing such as vector fields, and key technological aspects. Among other interesting findings, we observe that monocular V-SLAM might greatly benefit from RF/mmWave signals, as the latter can serve as a proxy for scale ambiguity resolution. Conversely, we find that wireless communications in the context of 5G and beyond can potentially benefit from visual odometry and landmark detection methods in the context of optimal geometric path prediction for wireless channels. Moreover, we examine other perception sources besides monocular vision for SLAM such as Radio SLAM, wireless fidelity (WiFi) SLAM, and light detection and ranging (LiDAR) SLAM, and describe a twofold relation with wireless communications. Finally, integrated solutions performing joint communications and localization appear to be in their infancy: theoretical and practical advancements could add higher-level localization and semantic perception capabilities to RF/mmWave and multi-antenna technologies.

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当同步定位和地图与无线通信：调查

商用无线通信和传感设备的可用性与智能自主系统的进步相结合，有助于实现强大的联合通信和同时定位和绘图（SLAM）。自动驾驶汽车是直接受益于毫米波（mmWave）接入的几种应用之一，有助于改善通信和精确定位，从而实现控制和导航。本文综述了SLAM和无线通信交叉领域的最新研究进展，并将重点放在视觉SLAM （V-SLAM）集成上，分析了两者的双向影响。我们概述了与几何通道建模和基于射频（RF）的定位和传感相关的关键概念。考虑了几个研究方向，包括将SLAM解释为基于无线通信的定位和视觉信息驱动的统一感知估计框架，将通信感知目标集成到主动感知中，以及通过融合无线测量和互补传感方式实现多模态里程计。我们分析了估计和控制方法，如贝叶斯滤波器，基于特征的姿态估计，感知运动控制，信号处理的空间方法，如向量场，以及关键技术方面。在其他有趣的发现中，我们观察到单目V-SLAM可能极大地受益于射频/毫米波信号，因为后者可以作为尺度模糊度分辨率的代理。相反，我们发现5G及以后的无线通信可以从视觉里程计和地标检测方法中获益，这些方法可以用于无线信道的最优几何路径预测。此外，我们还研究了除了单目视觉之外的其他感知源，如无线电SLAM、无线保真度（WiFi） SLAM和光探测与测距（LiDAR） SLAM，并描述了与无线通信的双重关系。最后，执行联合通信和定位的集成解决方案似乎还处于起步阶段：理论和实践的进步可能会为RF/毫米波和多天线技术增加更高级别的定位和语义感知能力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Communications Surveys and Tutorials COMPUTER SCIENCE, INFORMATION SYSTEMS-TELECOMMUNICATIONS

CiteScore

80.20

自引率

2.50%

发文量

审稿时长

6 months

期刊介绍： IEEE Communications Surveys & Tutorials is an online journal published by the IEEE Communications Society for tutorials and surveys covering all aspects of the communications field. Telecommunications technology is progressing at a rapid pace, and the IEEE Communications Society is committed to providing researchers and other professionals the information and tools to stay abreast. IEEE Communications Surveys and Tutorials focuses on integrating and adding understanding to the existing literature on communications, putting results in context. Whether searching for in-depth information about a familiar area or an introduction into a new area, IEEE Communications Surveys & Tutorials aims to be the premier source of peer-reviewed, comprehensive tutorials and surveys, and pointers to further sources. IEEE Communications Surveys & Tutorials publishes only articles exclusively written for IEEE Communications Surveys & Tutorials and go through a rigorous review process before their publication in the quarterly issues. A tutorial article in the IEEE Communications Surveys & Tutorials should be designed to help the reader to become familiar with and learn something specific about a chosen topic. In contrast, the term survey, as applied here, is defined to mean a survey of the literature. A survey article in IEEE Communications Surveys & Tutorials should provide a comprehensive review of developments in a selected area, covering its development from its inception to its current state and beyond, and illustrating its development through liberal citations from the literature. Both tutorials and surveys should be tutorial in nature and should be written in a style comprehensible to readers outside the specialty of the article.