This project contains an example MATLAB implementation of a Bayesian SLAM algorithm following the paper 'A Belief Propagation Algorithm for Multipath-Based SLAM' [1], [2] and a flowchart of the algorithm. Just execute the file 'testbed.m'. At the end of the simulation a few result-plots are shown. The parameters are chosen according to the setup found in the paper.


[1] E. Leitinger, F. Meyer, F. Hlawatsch, K. Witrisal, F. Tufvesson, and
M. Z. Win, A scalable belief propagation algorithm for radio signal
based SLAM, Corr, vol. arXiv:1801.04463v2, 2018.

[2] E. Leitinger, F. Meyer, F. Tufvesson, and K. Witrisal, Factor graph
based simultaneous localization and mapping using multipath channel
information, in Proc. IEEE ICC Workshops 2017, 2017.