Belief Condensation Filtering for RSSI-Based State Estimation in Indoor Localization
Bibliographic record
Abstract
Recent advancements in signal processing and communication systems have resulted in evolution of an intriguing concept referred to as Internet of Things (IoT). By embracing the IoT evolution, there has been a surge of recent interest in localization/tracking within indoor environments based on Bluetooth Low Energy (BLE) technology. The basic motive behind BLE-enabled IoT applications is to provide advanced residential and enterprise solutions in an energy efficient and reliable fashion. Although recently different state estimation (SE) methodologies, ranging from Kalman filters, Particle filters, to multiple-modal solutions, have been utilized for BLE-based indoor localization, there is a need for ever more accurate and real-time algorithms. The main challenge here is that multipath fading and drastic fluctuations in the indoor environment result in complex non-linear, non-Gaussian estimation problems. The paper focuses on an alternative solution to the existing filtering techniques and introduces/discusses incorporation of the Belief Condensation Filter (BCF) for localization via BLE-enabled beacons. The BCF is a member of the universal approximation family of densities with performance bound achieving accuracy and efficiency in sequential SE and Bayesian tracking. It is a resilient filter in harsh environments where nonlinearities and non-Gaussian noise profiles persist, as seen in such applications as Indoor Localization.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.005 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".