Figure 13.

Applying the Gaussian function in (a) to a map m_n (b) produces a degradation of the probability with respect to the distance to the node (c). (a) A Gaussian curve representing the expected distribution of node to sound source distances. The expected value, μ, in this case is 20 m. (b) Without distance degradation, the probability keeps constant in relation to the distance from the node. (c) Multiplying the probability in each sector with the Gaussian function in (a) generates a probability map where probabilities decay with distance.