  5G millimeter wave (mmWave) signals can be used to jointly localize the
receiver and map the propagation environment in vehicular networks, which is a
typical simultaneous localization and mapping (SLAM) problem. Mapping the
environment is challenging, due to measurements comprising both specular and
diffuse multipath components, and diffuse multipath is usually considered as a
perturbation. We here propose a novel method to utilize all available multipath
signals from each landmark for mapping and incorporate this into a Poisson
multi-Bernoulli mixture for the 5G SLAM problem. Simulation results demonstrate
the efficacy of the proposed scheme.
