Amplitude-Independent Robust Snapshot 6-D Radio SLAM via a Uniffed Angle-Delay Formulation

Shengqiang Shen, Aoyun Hao, Weihao Geng, Lei Yang, Shiyin Li, Henk Wymeersch

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.