Simultaneous localization and tracking via real-time nonparametric belief propagation
Paper in proceeding, 2013

Target tracking in wireless sensor networks is traditionally achieved by localization and tracking (LAT), where the sensors are first localized, and in a later stage the target is tracked. This approach is sub-optimal since the sensor-target observations are not used to refine the position estimates of the sensors. In contrast, simultaneous localization and tracking (SLAT) uses these observations to track the target while simultaneously localizing the sensors. In this paper, we propose a novel centralized SLAT method based on real-time nonparametric belief propagation, which has nearly the same complexity and the same communication cost as LAT, and can provide both sensors' and target's estimated distributions in non-Gaussian form.

nonparametric belief propagation

wireless sensor networks

Simultaneous localization and tracking


Vladimir Savic

Henk Wymeersch

Chalmers, Signals and Systems, Communication, Antennas and Optical Networks

ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings

15206149 (ISSN)

978-147990356-6 (ISBN)

Cooperative Situational Awareness for Wireless Networks (COOPNET)

European Commission (EC) (EC/FP7/258418), 2011-05-01 -- 2016-04-30.

Areas of Advance

Information and Communication Technology

Subject Categories

Signal Processing





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