关键词：视觉定位；半定编程；矩阵分解
摘 要：We consider the problem of estimating the locations of a set of points in a k-dimensional euclidean space given a subset of the pairwise distance measurements between the points. We define a notion of non-contractibility and show that the relaxation gives the exact point locations when the underlying graph is non-contractible. The performance of the algorithm is evaluated on an experimental data set obtained from a network of 44 nodes in an indoor environment and is shown to be robust to non-line-of-sight errors.