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i ∈ V
n 2 log(ɛ −1 )
ɛ
n ∈ N
{p a 1, . . . , p a n} p a i = [x a i , y a i , θ a i ] i ∈ {1, . . . , n}
a m ∈ N
a ∈ V p a a = 03×1
a = 1 V a = V \{a}
e = (i, j) ∈ E G = (V, E)
z θ e z xy
e j
i Σ z θ e Σ z xy
e zθ ∈ R m zxy ∈ R 2m
Σzθ ∈ Rm×m Σzxy ∈ R 2m×2m m
zθ = (z θ 1, . . . , z θ m) T , zxy = ((z xy
1 ) T , . . . , (z xy
m ) T ) T ,
Σzθ = Diag(Σ z θ 1 , . . . Σ z θ m ), Σzxy = blkDiag(Σ z xy
1 , . . . Σ z xy
m ).
i ∈ V ˆp a i
˜ θ a V ∈ Rn
a V
zxy
ˆp a V = ((ˆxa V )T , ( ˆ θ a V )T ) T
˜ θV a ∈ Rn−1
a