| # Inner Approximations Localization > Back | Inner Approximations | Next Inner spherical approximation Inner box approximation ## Inner spherical approximation We first focus on the problem of finding the largest radius of a sphere contained in the intersection. It is easy to check that a sphere of center and radius is contained in a sphere of center and radius if and only if the differences in the radiuses exceeds the distance between the centers: Our inner approximation problem then becomes the SOCP We note that the measurements are inconsistent if and only if at optimum, . This is the same as saying that there is no point which satisfies the constraints , .
| Inner spherical approximation to the intersection. This provides an estimated point (the center of the inner shpere), with an optimistic estimate of the uncertainty around it.
## Inner box approximation We can also consider the problem of finding the largest box inside the intersection. We simply ensure that the vertices of a box with size are inside the intersection, and then maximize . In 2D or 3D, this is easy, as there is a moderate number of vertices. The problem is written In the above, is the number of vertices of the box ( in 2D, in 3D), and , are the vertices of the unit box, that is, the vectors with elements .
| Inner box approximation to the intersection. This provides an estimated point (the center of the inner box), with an optimistic estimate of the uncertainty around it. Here, the uncertainty is given as two intervals of confidence on each of the coordinates of the estimated point.