This paper introduces a Gaussian process (GP)-based method for extended object estimation (EOE) in integrated sensing and communication (ISAC) scenarios, representing a promising approach to enhance environmental awareness beyond the conventional point-scatterer assumption. The suitability of the proposed GP-based method for EOE is investigated through a practical measurement setup compliant with the fifth-generation (5G) New Radio (NR) standard and employing bistatic sensing, with results evaluated for both mapping and simultaneous localization and mapping (SLAM ) cases at millimeter-wave (mmWave) frequencies. The findings reveal that the enhanced capabilities of communication networks, when combined with bistatic sensing and GP-based EOE, enable improved environmental awareness in future wireless systems. Importantly, the results demonstrate that, under practical conditions, GP effectively performs EOE in both mmWave mapping and SLAM scenarios.
@article{arxiv.2605.26915,
title = {Gaussian Process-Based Extended Object Estimation for 6G ISAC at Millimeter-Wave Frequencies},
author = {M. Ertug Pihtili and Ossi Kaltiokallio and Julia Equi and Jukka Talvitie and Elena Simona Lohan and Ertugrul Basar and Mikko Valkama},
journal= {arXiv preprint arXiv:2605.26915},
year = {2026}
}