On the Performance Limits of Map-Aware Localization
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Win_On the performance.pdf
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Author(s)
Montorsi, Francesco
Mazuelas, Santiago
Vitetta, Giorgio M.
Win, Moe Z.
Date Issued
August 2013
Journal
IEEE Transactions on Information Theory
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
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.
Version
Author's final manuscript
Abstract
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.
MIT Department
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1109/TIT.2013.2257915
