GitHub - Agarciafernandez/PLBP: Implementation of the posterior linearisation belief propagation algorithm for cooperative localisation.

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Implementation of the posterior linearisation belief propagation algorithm for cooperative localisation.

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Name		Name	Last commit message	Last commit date
Latest commit History 2 Commits
Maps		Maps
.gitattributes		.gitattributes
Loopy_BP_linearised_model_joint.m		Loopy_BP_linearised_model_joint.m
Posterior_linearisation_BP_MC.m		Posterior_linearisation_BP_MC.m
SLR_DistanceGraph.m		SLR_DistanceGraph.m
jointMarginalCalculation.m		jointMarginalCalculation.m
license.txt		license.txt
linear_kf_update.m		linear_kf_update.m
linearisationDistanceGraph.m		linearisationDistanceGraph.m
linearisationDistanceGraphJoint.m		linearisationDistanceGraphJoint.m
loadMaps.m		loadMaps.m
measurementsGenerationDistance.m		measurementsGenerationDistance.m
readme.txt		readme.txt

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This repository contains the Matlab implementation of the posterior linearisation belief propagation (PLBP) algorithm for cooperative localisation proposed in  

A. F. García-Fernández, L. Svensson, and S. Särkkä, Cooperative localization using posterior linearization belief propagation, IEEE Transactions on Vehicular Technology, vol. 67, no. 1, pp. 832�836, Jan. 2018.


To run the PLBP algorithm (based on iterated statistical linear regression using sigma points) use

Posterior_linearisation_BP_MC.m