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This paper proposes a radio simultaneous location and mapping (radio-SLAM)scheme based on sparse multipath channel estimation. By leveraging sparsechannel estimation schemes at millimeter wave bands, namely high resolutionestimates of the multipath angle of arrival (AoA), time difference of arrival(TDoA), and angle of departure (AoD), we develop a radio-SLAM algorithm thatoperates without any requirements of clock synchronization, receiverorientation knowledge, multiple anchor points, or two-way protocols. Thanks tothe AoD information obtained via compressed sensing (CS) of the channel, theproposed scheme can estimate the receiver clock offset and orientation from asingle anchor transmission, achieving sub-meter accuracy in a realistic typicalchannel simulation.

Clock and Orientation-Robust Simultaneous Radio Localization and Mapping at Millimeter Wave Bands