Signal Processing - September 2017 - 135

IEEE SIGNAL PROCESSING MAGAZINE

|

(d)

September 2017

|

∗Guimarães et al.

∗Sadhu et al.

∗Ben-Moshe et al.

Hemamali
and Sreenivas

Acton and Kulkarni

Wang et al.

Snyder (init.) et al.

∗Su et al.

∗Kikutchi et al.

Cheng and Guan

Chen et al.

∗Ju (init.) et al.

∗Li et al.

Beuchat et al.

8.494

Sequitur.

Dobrev et al.

Lou and Peng

Gunes et al.

RealEarth.

Morin et al.

Vadeny et al.

∗Schmitz et al.

∗Shu (init.) et al.

Cabuz et al.

∗Han et al.

∗Yoshizawa et al.

∗Mosharafa et al.

Baszun et al.

Flores et al.
∗Rea et al.

Wang et al.

∗Huang and Yang
∗Wu (init.) et al.

Hoppe et al.

Kulm et al.

∗Guimarães et al.

Tabarovsky et al.
∗Guimarães
(init.) et al.
Hammer et al.
∗Shu et al.

Kempke et al.

Time Domain

Lazik and Rowe

∗Sánchez et al.

Ghose et al.

Mirshekari et al.

Kuo et al.

Deora and
Krishnamachari

Nikodem et al.

Herrera et al.

Lin et al.

Maróti et al.

∗Wu et al.

Pirkl and Lukowicz

∗Zou et al.

Symington et al.

∗Guimarães et al.

∗SPIRIT Navigation

Von Zengen et al.

Chen et al.

Klipp et al.

Simon et al.

Reimann et al.

Selavo et al.

Jiang et al.

∗Ghose et al.

∗Zhang et al.

Schmid and Lee

Pirkl and Lukowicz

Sark and Grass

Abrudan et al.

∗Xiao et al.

∗Marcaletti et al.

∗Li et al.

∗Ferraz et al.

Dentamaro et al.

Nikodem et al.

Ashok et al.

∗Zou et al.

Lazik and Rowe

Li et al.

Adler et al.

∗Li et al.

∗Beder and Klepal

(a)
26
24
22.99
22
20
18
16
14
11.24
12
10
7.39 8.24
8
6
3.93 4.22 4.31 4.67 4.92 5.6
2.6 3.5 3.65
4
1.9
1.63
1.37
0.78
2 0.2 0.31 0.39 0.6 0.73 0.74
0
Quantitec Intranav

(b)
12
10.72
11
10
9
7.86
8
6.96
7
5.67
6
5.23
3.68
5
3.22
2.86
2.18
3.37
4
3.17
2.59
3
1.43 1.8 1.86
1.23
0.81
0.58
2
1.32
0.29
0.16
1.111.22
0.6
0.37
1 0.05
0.23
0

Kämäräinen et al.

(c)
9
8.07
8
6.819 7.217
7
6.559
6.281
5.638 6.064
6
5
4.042
4
2.961
3
2.231 2.415 2.579
2
0.604
1
0.033 0.168
0

Quantitec Intranav

RealEarth (init.).

11
10.22
10
8.91
9
8
7
6
4.86 5.23
5
3.83 3.87 3.96 4.04
3.71
3.47
4
3.19
2.35 2.58 2.72 2.81
3
1.56 1.96 2.03 2.04 2.09 2.22
2
1 0.72
0

FIGURE 5. The average localization error for all competing teams grouped by year. Teams with an ) are infrastructure-free teams. Teams with (init.) had

to bootstrap their systems at a known location inside the evaluation area. Tables 1 and 2 provide more details about each team. As a reference, if a team
were to always report the center of the evaluation area as the true location, the average location error would be 7, 16, and 9 m for the 2014, 2015, and
2016 competitions, respectively. Data for (a) 2014, (b) 2015, (c) 2016, and (d) 2017.

135



Table of Contents for the Digital Edition of Signal Processing - September 2017

Signal Processing - September 2017 - Cover1
Signal Processing - September 2017 - Cover2
Signal Processing - September 2017 - 1
Signal Processing - September 2017 - 2
Signal Processing - September 2017 - 3
Signal Processing - September 2017 - 4
Signal Processing - September 2017 - 5
Signal Processing - September 2017 - 6
Signal Processing - September 2017 - 7
Signal Processing - September 2017 - 8
Signal Processing - September 2017 - 9
Signal Processing - September 2017 - 10
Signal Processing - September 2017 - 11
Signal Processing - September 2017 - 12
Signal Processing - September 2017 - 13
Signal Processing - September 2017 - 14
Signal Processing - September 2017 - 15
Signal Processing - September 2017 - 16
Signal Processing - September 2017 - 17
Signal Processing - September 2017 - 18
Signal Processing - September 2017 - 19
Signal Processing - September 2017 - 20
Signal Processing - September 2017 - 21
Signal Processing - September 2017 - 22
Signal Processing - September 2017 - 23
Signal Processing - September 2017 - 24
Signal Processing - September 2017 - 25
Signal Processing - September 2017 - 26
Signal Processing - September 2017 - 27
Signal Processing - September 2017 - 28
Signal Processing - September 2017 - 29
Signal Processing - September 2017 - 30
Signal Processing - September 2017 - 31
Signal Processing - September 2017 - 32
Signal Processing - September 2017 - 33
Signal Processing - September 2017 - 34
Signal Processing - September 2017 - 35
Signal Processing - September 2017 - 36
Signal Processing - September 2017 - 37
Signal Processing - September 2017 - 38
Signal Processing - September 2017 - 39
Signal Processing - September 2017 - 40
Signal Processing - September 2017 - 41
Signal Processing - September 2017 - 42
Signal Processing - September 2017 - 43
Signal Processing - September 2017 - 44
Signal Processing - September 2017 - 45
Signal Processing - September 2017 - 46
Signal Processing - September 2017 - 47
Signal Processing - September 2017 - 48
Signal Processing - September 2017 - 49
Signal Processing - September 2017 - 50
Signal Processing - September 2017 - 51
Signal Processing - September 2017 - 52
Signal Processing - September 2017 - 53
Signal Processing - September 2017 - 54
Signal Processing - September 2017 - 55
Signal Processing - September 2017 - 56
Signal Processing - September 2017 - 57
Signal Processing - September 2017 - 58
Signal Processing - September 2017 - 59
Signal Processing - September 2017 - 60
Signal Processing - September 2017 - 61
Signal Processing - September 2017 - 62
Signal Processing - September 2017 - 63
Signal Processing - September 2017 - 64
Signal Processing - September 2017 - 65
Signal Processing - September 2017 - 66
Signal Processing - September 2017 - 67
Signal Processing - September 2017 - 68
Signal Processing - September 2017 - 69
Signal Processing - September 2017 - 70
Signal Processing - September 2017 - 71
Signal Processing - September 2017 - 72
Signal Processing - September 2017 - 73
Signal Processing - September 2017 - 74
Signal Processing - September 2017 - 75
Signal Processing - September 2017 - 76
Signal Processing - September 2017 - 77
Signal Processing - September 2017 - 78
Signal Processing - September 2017 - 79
Signal Processing - September 2017 - 80
Signal Processing - September 2017 - 81
Signal Processing - September 2017 - 82
Signal Processing - September 2017 - 83
Signal Processing - September 2017 - 84
Signal Processing - September 2017 - 85
Signal Processing - September 2017 - 86
Signal Processing - September 2017 - 87
Signal Processing - September 2017 - 88
Signal Processing - September 2017 - 89
Signal Processing - September 2017 - 90
Signal Processing - September 2017 - 91
Signal Processing - September 2017 - 92
Signal Processing - September 2017 - 93
Signal Processing - September 2017 - 94
Signal Processing - September 2017 - 95
Signal Processing - September 2017 - 96
Signal Processing - September 2017 - 97
Signal Processing - September 2017 - 98
Signal Processing - September 2017 - 99
Signal Processing - September 2017 - 100
Signal Processing - September 2017 - 101
Signal Processing - September 2017 - 102
Signal Processing - September 2017 - 103
Signal Processing - September 2017 - 104
Signal Processing - September 2017 - 105
Signal Processing - September 2017 - 106
Signal Processing - September 2017 - 107
Signal Processing - September 2017 - 108
Signal Processing - September 2017 - 109
Signal Processing - September 2017 - 110
Signal Processing - September 2017 - 111
Signal Processing - September 2017 - 112
Signal Processing - September 2017 - 113
Signal Processing - September 2017 - 114
Signal Processing - September 2017 - 115
Signal Processing - September 2017 - 116
Signal Processing - September 2017 - 117
Signal Processing - September 2017 - 118
Signal Processing - September 2017 - 119
Signal Processing - September 2017 - 120
Signal Processing - September 2017 - 121
Signal Processing - September 2017 - 122
Signal Processing - September 2017 - 123
Signal Processing - September 2017 - 124
Signal Processing - September 2017 - 125
Signal Processing - September 2017 - 126
Signal Processing - September 2017 - 127
Signal Processing - September 2017 - 128
Signal Processing - September 2017 - 129
Signal Processing - September 2017 - 130
Signal Processing - September 2017 - 131
Signal Processing - September 2017 - 132
Signal Processing - September 2017 - 133
Signal Processing - September 2017 - 134
Signal Processing - September 2017 - 135
Signal Processing - September 2017 - 136
Signal Processing - September 2017 - 137
Signal Processing - September 2017 - 138
Signal Processing - September 2017 - 139
Signal Processing - September 2017 - 140
Signal Processing - September 2017 - 141
Signal Processing - September 2017 - 142
Signal Processing - September 2017 - 143
Signal Processing - September 2017 - 144
Signal Processing - September 2017 - 145
Signal Processing - September 2017 - 146
Signal Processing - September 2017 - 147
Signal Processing - September 2017 - 148
Signal Processing - September 2017 - 149
Signal Processing - September 2017 - 150
Signal Processing - September 2017 - 151
Signal Processing - September 2017 - 152
Signal Processing - September 2017 - 153
Signal Processing - September 2017 - 154
Signal Processing - September 2017 - 155
Signal Processing - September 2017 - 156
Signal Processing - September 2017 - 157
Signal Processing - September 2017 - 158
Signal Processing - September 2017 - 159
Signal Processing - September 2017 - 160
Signal Processing - September 2017 - 161
Signal Processing - September 2017 - 162
Signal Processing - September 2017 - 163
Signal Processing - September 2017 - 164
Signal Processing - September 2017 - 165
Signal Processing - September 2017 - 166
Signal Processing - September 2017 - 167
Signal Processing - September 2017 - 168
Signal Processing - September 2017 - 169
Signal Processing - September 2017 - 170
Signal Processing - September 2017 - 171
Signal Processing - September 2017 - 172
Signal Processing - September 2017 - 173
Signal Processing - September 2017 - 174
Signal Processing - September 2017 - 175
Signal Processing - September 2017 - 176
Signal Processing - September 2017 - 177
Signal Processing - September 2017 - 178
Signal Processing - September 2017 - 179
Signal Processing - September 2017 - 180
Signal Processing - September 2017 - 181
Signal Processing - September 2017 - 182
Signal Processing - September 2017 - 183
Signal Processing - September 2017 - 184
Signal Processing - September 2017 - 185
Signal Processing - September 2017 - 186
Signal Processing - September 2017 - 187
Signal Processing - September 2017 - 188
Signal Processing - September 2017 - 189
Signal Processing - September 2017 - 190
Signal Processing - September 2017 - 191
Signal Processing - September 2017 - 192
Signal Processing - September 2017 - 193
Signal Processing - September 2017 - 194
Signal Processing - September 2017 - 195
Signal Processing - September 2017 - 196
Signal Processing - September 2017 - Cover3
Signal Processing - September 2017 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_201809
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_201807
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_201805
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_201803
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_201801
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1117
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0917
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0717
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0517
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0317
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0117
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1116
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0916
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0716
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0516
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0316
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0116
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1115
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0915
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0715
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0515
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0315
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0115
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1114
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0914
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0714
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0514
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0314
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0114
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1113
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0913
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0713
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0513
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0313
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0113
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1112
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0912
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0712
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0512
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0312
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0112
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1111
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0911
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0711
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0511
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0311
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0111
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1110
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0910
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0710
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0510
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0310
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0110
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1109
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0909
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0709
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0509
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0309
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0109
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1108
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0908
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0708
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0508
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0308
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0108
https://www.nxtbookmedia.com