| SLAM | Simultaneous Localization and Mapping |
| EM | Expectation–Maximization |
| mmW | Millimeter Wave |
| AP | Access Point |
| ADOA | Angle Difference of Arrival |
| MT | Mobile Terminal |
| MPCs | Multipath Components |
| RFS | Random Finite Set |
| BP | Belief Propagation |
| JADE | Joint Anchor and Device location Estimation |
| LS | Least-Squares |
| CLAM | Communication-driven Localization And Mapping |
| IMM | Interacting Multiple Model |
| NLOS | Non-Line of Sight |
| 2D/3D | Two-dimension/Three-dimension |
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