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Cooperative trajectory mapping is an emerging technique that allows users to create a map by using data collected from each participant's mobile phones. Unlike the traditional localization problem, where GPS is usually required, cooperative mapping only requires information about the relative distance and direction from the previously reported position. In this paper, the authors consider the problem of measurement error, which is when the measurement error causes the spatial relations among users to be wrong, in cooperative trajectory mapping. They propose an encounter-based error canceling algorithm to efficiently reduce measurement errors. Extensive simulation experiments are performed to validate their solutions.
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