Collaborative Location/Orientation Estimation

摘要

It is inter alia disclosed to estimate at least one of a location and an orientation of a first-type device (11) at least based on respective location estimates for one or more signal sources (10), wherein at least one location estimate for a signal source (10) of the one or more signal sources is determined at least based on respective signals from the signal source (10) received at one or more second-type devices (12) and respective locations of the one or more second-type devices (12), and respective position relationships between the one or more signal sources (10) and the first-type device (11).