US Patent 11805389 Evaluation of device placement

A placement of a set of devices in an environment is evaluated. At least a plurality of neighboring locations is selected for a target location in the environment. A probability of an estimated location conditioned on the target location is calculated for each of at least the plurality of neighboring locations as the estimated location by using an observation model for obtaining a set of observation values given a location under the placement. An evaluation metric is computed by using the probability calculated for each of at least the plurality of neighboring locations.