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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 | ||
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Loopy_BP_linearised_model_joint.m | ||
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Posterior_linearisation_BP_MC.m | ||
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SLR_DistanceGraph.m | ||
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jointMarginalCalculation.m | ||
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license.txt | ||
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linear_kf_update.m | ||
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linearisationDistanceGraph.m | ||
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linearisationDistanceGraphJoint.m | ||
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loadMaps.m | ||
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measurementsGenerationDistance.m | ||
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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