  5G mmWave communication is useful for positioning due to the geometric
connection between the propagation channel and the propagation environment.
Channel estimation methods can exploit the resulting sparsity to estimate
parameters(delay and angles) of each propagation path, which in turn can be
exploited for positioning and mapping. When paths exhibit significant spread in
either angle or delay, these methods breakdown or lead to significant biases.
We present a novel tensor-based method for channel estimation that allows
estimation of mmWave channel parameters in a non-parametric form. The method is
able to accurately estimate the channel, even in the absence of a specular
component. This in turn enables positioning and mapping using only diffuse
multipath. Simulation results are provided to demonstrate the efficacy of the
proposed approach.
