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This repository contains the implementation of the posterior linearisation belief propagation algorithm for cooperative localisation
MATLAB
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Maps
.gitattributes
Loopy_BP_linearised_model_joint.m
Posterior_linearisation_BP_MC.m
SLR_DistanceGraph.m
jointMarginalCalculation.m
license.txt
linear_kf_update.m
linearisationDistanceGraph.m
linearisationDistanceGraphJoint.m
loadMaps.m
measurementsGenerationDistance.m
readme.txt

readme.txt

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

 



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