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midas
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semeval2010_ke_tagged

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of O
expensive O
hardware O
on O
the O
sensor O
nodes O
, O
as O
required O
by O
other O
localization B-KEY
systems O
. O
We O
evaluate O
the O
performance B-KEY
of O
our O
system O
in O
deployments O
of O
Mica2 O
and O
XSM O
motes O
. O
Through O
performance B-KEY
evaluations O
of O
a O
real O
system O
deployed O
outdoors O
, O
we O
obtain O
a O
20cm O
localization B-KEY
error O
. O
A O
sensor B-KEY
network I-KEY
, O
with O
any O
number O
of O
nodes O
, O
deployed O
in O
a O
2500m2 O
area O
, O
can O
be O
localized B-KEY
in O
under O
10 O
minutes O
, O
using O
a O
device O
that O
costs O
less O
than O
$ O
1000 O
. O
To O
the O
best O
of O
our O
knowledge O
, O
this O
is O
the O
first O
report O
of O
a O
sub-meter O
localization B-KEY
error O
, O
obtained O