Accuracy and complexity represent fundamental aspects of localization and tracking systems. In this manuscript the impact of a priori knowledge about agent position on the accuracy and the complexity of localization algorithms is investigated. In particular, first Cramer-Rao bounds on localization accuracy are derived under the assumption that a priori information is described by a map restricting the agent position to a specific region. Then, the computational complexity of optimal map-aware and map-unaware localization techniques is assessed. Our results evidence that: a) map-aware localization accuracy can be related to some geometrical features of the map but usually exhibits a complicated dependence on them; b) in some scenarios map-aware localization algorithms provide better accuracy than their map-unaware counterparts at comparable computational complexity.
On the impact of a priori information on localization accuracy and complexity / Montorsi, Francesco; S., Mazuelas; Vitetta, Giorgio Matteo; M., Win. - STAMPA. - (2013), pp. 5792-5797. (Intervento presentato al convegno 2013 IEEE International Conference on Communications, ICC 2013 tenutosi a Budapest, Hungary nel June, 9-13) [10.1109/ICC.2013.6655520].