Figure 6
From: Correlation-based radio localization in an indoor environment
CDF for pairwise distance estimation errors for each pair of receiver nodes, with two different correlation methods and with and without MDS. The symbols differentiate between the different techniques to estimate the pairwise distance using cross correlations: weighted average of multiple peaks ("statistical peak selection"), and, for reference, the peak of the averaged long-time CCF ("cumulative peak"). The solid lines correspond to the pairwise distance estimates computed from the MDS location estimates