Outlier-Resistant Localization for Smart Cities: Low-Rank Approximation-Based Approaches

<table class="algorithm-group"><tr><td><table class="algorithm" id="alg1"><tr><td> </td><td><b>Input</b>: observed EDM <span class="nowrap"><svg height="12.4698pt" id="M29" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 66.3508 12.4698" width="66.3508pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 375C743 570 607 650 407 650H136L130 622C214 612 220 606 204 526L125 122C110 43 105 36 24 27L17 0H250C382 0 482 23 571 76C680 141 743 248 743 375ZM644 379C644 188 520 36 305 36C277 36 249 38 229 46C205 55 202 71 212 126L293 553C300 588 306 600 317 606C330 613 356 617 390 617C547 617 644 537 644 379Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.893,3.132)"><path d="M727 145L694 147C669 79 660 74 614 74H536C582 128 696 227 696 364C696 547 564 666 388 666C215 666 78 544 78 361C78 224 189 126 240 74H155C117 74 102 83 79 147L48 145L64 0H313L320 21C290 72 182 208 182 360C182 527 261 628 387 628S593 523 593 362C593 199 488 69 456 21L461 0H709L727 145Z"></path></g><g transform="matrix(.013,0,0,-0.013,21.038,0)"><path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,32.301,0)"><path d="M46 650V622C120 617 128 613 128 525V125C128 42 120 34 40 28V0H311V28C221 34 212 39 212 124V281L286 262C297 261 316 261 331 263C429 275 526 338 526 468C526 533 501 579 462 609C422 638 364 650 293 650H46ZM212 559C212 588 215 600 223 606C230 613 251 618 279 618C361 618 430 572 430 464C430 337 350 302 285 302C252 302 225 309 212 314V559Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,39.62,3.132)"><path d="M727 145L694 147C669 79 660 74 614 74H536C582 128 696 227 696 364C696 547 564 666 388 666C215 666 78 544 78 361C78 224 189 126 240 74H155C117 74 102 83 79 147L48 145L64 0H313L320 21C290 72 182 208 182 360C182 527 261 628 387 628S593 523 593 362C593 199 488 69 456 21L461 0H709L727 145Z"></path></g><g transform="matrix(.013,0,0,-0.013,47.133,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,51.631,0)"><path d="M743 375C743 570 607 650 407 650H136L130 622C214 612 220 606 204 526L125 122C110 43 105 36 24 27L17 0H250C382 0 482 23 571 76C680 141 743 248 743 375ZM644 379C644 188 520 36 305 36C277 36 249 38 229 46C205 55 202 71 212 126L293 553C300 588 306 600 317 606C330 613 356 617 390 617C547 617 644 537 644 379Z"></path></g><g transform="matrix(.013,0,0,-0.013,61.589,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg>.</span></td></tr><tr><td> </td><td><b>Output</b>: the estimated coordinates <span class="nowrap"><svg height="11.974pt" id="M30" style="vertical-align:-0.04979992pt" version="1.1" viewbox="-0.0498162 -11.9242 10.0819 11.974" width="10.0819pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,1.416,-2.897)"><path d="M658 557C549 593 437 629 340 673H318C222 629 109 593 0 557L9 532C116 551 225 577 329 602C435 576 543 551 649 532L658 557Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z"></path></g></svg>.</span></td></tr><tr><td> </td><td><b>Step1</b>: use Algorithm <a href="../alg2/">2</a> to determine the index set of outliers and generate the masking matrix <span class="nowrap"><svg height="11.743pt" id="M31" style="vertical-align:-3.309361pt" version="1.1" viewbox="-0.0498162 -8.43364 26.827 11.743" width="26.827pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M969 650H734V615C815 608 819 591 805 531C791 472 750 316 712 193H709C654 339 597 492 541 644H493C447 490 397 339 349 197H347C313 307 279 424 246 541C232 592 233 606 308 615V650H13V615C72 607 89 593 113 515C169 337 218 169 273 -11H325C373 133 424 282 475 433H477C533 281 586 138 641 -11H693C777 269 836 443 858 508C886 591 902 605 969 615V650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,12.775,3.132)"><path d="M381 665C170 665 44 498 44 318C44 125 188 -15 369 -15C552 -15 703 117 703 333C703 534 550 665 381 665ZM359 629C491 629 601 517 601 306C601 114 502 21 390 21C249 21 146 158 146 346S248 629 359 629Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,19.49,3.132)"><path d="M43 650V622C120 616 128 612 128 526V124C128 39 120 33 34 27V0H270C392 0 492 25 567 83C643 141 690 230 690 350C690 444 655 517 605 565C543 625 450 650 323 650H43ZM213 547C213 587 217 598 226 604C236 612 262 617 304 617C371 617 429 604 474 576C554 529 592 439 592 336C592 176 505 36 319 36C246 36 213 55 213 131V547Z"></path></g></svg>.</span></td></tr><tr><td> </td><td><b>Step2</b>: implementing low-rank matrix approximation.</td></tr><tr><td> </td><td> <svg height="15.2336pt" id="M32" style="vertical-align:-3.3094pt" version="1.1" viewbox="-0.0498162 -11.9242 116.077 15.2336" width="116.077pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.607,-2.897)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 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615V650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,94.461,3.132)"><path d="M381 665C170 665 44 498 44 318C44 125 188 -15 369 -15C552 -15 703 117 703 333C703 534 550 665 381 665ZM359 629C491 629 601 517 601 306C601 114 502 21 390 21C249 21 146 158 146 346S248 629 359 629Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,101.176,3.132)"><path d="M43 650V622C120 616 128 612 128 526V124C128 39 120 33 34 27V0H270C392 0 492 25 567 83C643 141 690 230 690 350C690 444 655 517 605 565C543 625 450 650 323 650H43ZM213 547C213 587 217 598 226 604C236 612 262 617 304 617C371 617 429 604 474 576C554 529 592 439 592 336C592 176 505 36 319 36C246 36 213 55 213 131V547Z"></path></g><g transform="matrix(.013,0,0,-0.013,108.414,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g><g transform="matrix(.013,0,0,-0.013,112.912,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 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<div> Low-rank approximation-based localization.</div>

Scientific Programming

alg1

Algorithm 1

Algorithm 1: Outlier-Resistant Localization for Smart Cities: Low-Rank Approximation-Based Approaches 