Reduced-Complexity Algorithms for Indoor Map-Aware Localization Systems

Algorithm 4

Implementation of the iterative DRD estimator (see Section 3.3) employed by ().

Require: covering of (2); () estimator; constants and (Table 1).

(1) , computed assuming

(2)

(3) for (see (17))

(4) while     do

(5)  ,

(6) end while

(7) () evaluated in the reduced map