Figure 7From: Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging Illustration of the suggested range update in two dimensions. From left to right, the plots show the Gaussian prior given by the mean z Ì‚ 1 (blue dot) and the covariance P z 1 (blue ellipse), and with indicated samples (red dots) and eigenvectors/values, the (one-dimensional) likelihood function given by the range measurement r ~ and used to reweight the samples, and the resulting posterior with conditional mean z Ì‚ 1 | r and covariance P z 1 | r calculated from the reweighted samples.Back to article page