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. Author manuscript; available in PMC: 2013 Aug 12.
Published in final edited form as: ACM Trans Sens Netw. 2012 Jul;8(3):2240093. doi: 10.1145/2240092.2240093

Fig. 2.

Fig. 2

The ASAP recovery process for a patch in the U.S. cities graph. The rightmost subgraph is the embedding of the patch in its own local frame using a localization algorithm, such as stress minimization or SDP. To every patch, like the one shown here, there corresponds elements of Euc(2) that we try to estimate. Using the pair alignments, in Step 1 we estimate the reflection from an eigenvector synchronization computation over Z2, in Step 2 we estimate the rotation angle by the same eigenvector synchronization method applied to SO(2), while in Step 3 we find the estimated coordinates by solving an overdetermined system of linear equations.