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Existing studies have either relied on simplified abstract models of the signal propagation and the measurements, or are based on direct positioning approaches, which directly map the received waveform to a position. In this study, we consider an intermediate approach, which consists of four phases\u2014downlink data transmission, multi-dimensional channel estimation, channel parameter clustering, and simultaneous localization and mapping (SLAM) based on a novel likelihood function. This approach can decompose the problem into simpler steps, thus leading to lower complexity. At the same time, by considering an end-to-end processing chain, we are accounting for a wide variety of practical impairments. Simulation results demonstrate the efficacy of the proposed approach.<\/jats:p>","DOI":"10.3390\/s20164656","type":"journal-article","created":{"date-parts":[[2020,8,19]],"date-time":"2020-08-19T09:22:31Z","timestamp":1597828951000},"page":"4656","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":64,"title":["5G SLAM Using the Clustering and Assignment Approach with Diffuse Multipath"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1747-2664","authenticated-orcid":false,"given":"Yu","family":"Ge","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Chalmers University of Technology, 412 96 Gothenburg, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3686-1446","authenticated-orcid":false,"given":"Fuxi","family":"Wen","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chalmers University of Technology, 412 96 Gothenburg, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0473-1471","authenticated-orcid":false,"given":"Hyowon","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 04763 Seoul, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Meifang","family":"Zhu","sequence":"additional","affiliation":[{"name":"Department of Electrical and Information Technology, Lund University, 221 00 Lund, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0598-0178","authenticated-orcid":false,"given":"Fan","family":"Jiang","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chalmers University of Technology, 412 96 Gothenburg, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7055-6587","authenticated-orcid":false,"given":"Sunwoo","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 04763 Seoul, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lennart","family":"Svensson","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chalmers University of Technology, 412 96 Gothenburg, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1298-6159","authenticated-orcid":false,"given":"Henk","family":"Wymeersch","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chalmers University of Technology, 412 96 Gothenburg, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,8,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Narayanan, A., Ramadan, E., Carpenter, J., Liu, Q., Liu, Y., Qian, F., and Zhang, Z.L. 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