Algorithm 3 Uncertainty estimate.
Input: Likelihood $p({\rho }^v|\theta )$, local maximum likelihood $\overline{\theta }$, beam width b
Output: Posterior $p(\widehat{\theta })$
1: $I(\overline{\theta })\leftarrow \frac{2{\left(\frac{\partial {\sigma }_{\rho }}{\partial \theta }\right)}^2+{\left(\frac{\partial \overline{\rho }}{\partial \theta }\right)}^2}{{\sigma }_{\rho }^2}$	▹ Fisher information Equation (43)
2: ${\sigma }_{\theta }^2\leftarrow \frac{1}{I(\overline{\theta })}$
3: $\alpha ,\beta \leftarrow 1$	▹ Beta distr. parameters
4: if ${\sigma }_{\theta }\le {\sigma }_T$ then	▹ Equation (52)
5:    $\alpha \leftarrow \left(b+2\overline{\theta }\right)\frac{b^2-4({\overline{\theta }}^2+{\sigma }_{\theta }^2)}{8b{\sigma }_{\theta }^2}$
6:    $\beta \leftarrow \left(b-2\overline{\theta }\right)\frac{b^2-4({\overline{\theta }}^2+{\sigma }_{\theta }^2)}{8b{\sigma }_{\theta }^2}$
7: end if
8: $p(\widehat{\theta })\leftarrow Beta\left(\alpha ,\beta ,-\frac{b}{2},\frac{b}{2}\right)$