This repository contains the Matlab implementation of the posterior linearisation belief propagation (PLBP) algorithm for cooperative localisation proposed in A. F. García-Fernández, L. Svensson, and S. Särkkä, Cooperative localization using posterior linearization belief propagation, IEEE Transactions on Vehicular Technology, vol. 67, no. 1, pp. 832�836, Jan. 2018. To run the PLBP algorithm (based on iterated statistical linear regression using sigma points) use Posterior_linearisation_BP_MC.m