Trilateration Using Motion Models

In this paper, we present a framework for doing localization from distance measurements, given an estimate of the local motion. We show how we can register the local motion of a receiver, to a global coordinate system, using trilateration of given distance measurements from the receivers to senders in known positions. We describe how many different motion models can be formulated within the same type of registration framework, by only changing the transformation group. The registration is based on a test and hypothesis framework, such as RANSAC, and we present novel and fast minimal solvers that can be used to bootstrap such methods. The system is tested on both synthetic and real data with promising results.