On the Performance Limits of Map-Aware Localization
Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a set of observations and, possibly, of some a priori informa...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2013
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| Online Access: | http://hdl.handle.net/1721.1/81159 https://orcid.org/0000-0002-8573-0488 |
| _version_ | 1826202346250567680 |
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| author | Montorsi, Francesco Mazuelas, Santiago Vitetta, Giorgio M. Win, Moe Z. |
| author2 | Massachusetts Institute of Technology. Laboratory for Information and Decision Systems |
| author_facet | Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Montorsi, Francesco Mazuelas, Santiago Vitetta, Giorgio M. Win, Moe Z. |
| author_sort | Montorsi, Francesco |
| collection | MIT |
| description | Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a set of observations and, possibly, of some a priori information related to them (e.g., information about anchor positions and properties of the communication channel). In this paper, new bounds are derived under the assumption that the localization system is map-aware, i.e., it can benefit not only from the availability of observations, but also from the a priori knowledge provided by the map of the environment where it operates. Our results show that: a) map-aware estimation accuracy can be related to some features of the map (e.g., its shape and area) even though, in general, the relation is complicated; b) maps are really useful in the presence of some combination of low SNRs and specific geometrical features of the map (e.g., the size of obstructions); c) in most cases, there is no need of refined maps since additional details do not improve estimation accuracy. |
| first_indexed | 2024-09-23T12:06:00Z |
| format | Article |
| id | mit-1721.1/81159 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T12:06:00Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/811592022-09-28T00:06:59Z On the Performance Limits of Map-Aware Localization Montorsi, Francesco Mazuelas, Santiago Vitetta, Giorgio M. Win, Moe Z. Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Montorsi, Francesco Win, Moe Z. Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a set of observations and, possibly, of some a priori information related to them (e.g., information about anchor positions and properties of the communication channel). In this paper, new bounds are derived under the assumption that the localization system is map-aware, i.e., it can benefit not only from the availability of observations, but also from the a priori knowledge provided by the map of the environment where it operates. Our results show that: a) map-aware estimation accuracy can be related to some features of the map (e.g., its shape and area) even though, in general, the relation is complicated; b) maps are really useful in the presence of some combination of low SNRs and specific geometrical features of the map (e.g., the size of obstructions); c) in most cases, there is no need of refined maps since additional details do not improve estimation accuracy. United States. Air Force Office of Scientific Research (Grant FA9550-12-0287) United States. Office of Naval Research (Grant N00014-11-1-0397) Massachusetts Institute of Technology. Institute for Soldier Nanotechnologies 2013-09-25T14:17:24Z 2013-09-25T14:17:24Z 2013-08 2013-02 Article http://purl.org/eprint/type/JournalArticle 0018-9448 1557-9654 http://hdl.handle.net/1721.1/81159 Montorsi, Francesco, Santiago Mazuelas, Giorgio M. Vitetta, and Moe Z. Win. “On the Performance Limits of Map-Aware Localization.” IEEE Transactions on Information Theory 59, no. 8 (August 2013): 5023-5038. https://orcid.org/0000-0002-8573-0488 en_US http://dx.doi.org/10.1109/TIT.2013.2257915 IEEE Transactions on Information Theory Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) arXiv |
| spellingShingle | Montorsi, Francesco Mazuelas, Santiago Vitetta, Giorgio M. Win, Moe Z. On the Performance Limits of Map-Aware Localization |
| title | On the Performance Limits of Map-Aware Localization |
| title_full | On the Performance Limits of Map-Aware Localization |
| title_fullStr | On the Performance Limits of Map-Aware Localization |
| title_full_unstemmed | On the Performance Limits of Map-Aware Localization |
| title_short | On the Performance Limits of Map-Aware Localization |
| title_sort | on the performance limits of map aware localization |
| url | http://hdl.handle.net/1721.1/81159 https://orcid.org/0000-0002-8573-0488 |
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