Where am I? A tutorial on mobile vehicle localization

Abstract

Examines one of the main problems of mobile robot navigation: determining exactly where the robot is at all times. Describes the most important algorithm in localization: the extended Kalman filter. Looks at the simplest type of navigation using a system of fixed beacons in conjunction with a special sensor located on the vehicle and also the use of “natural beacons”. Discuss the problems of building and maintaining a map for the vehicle. Concludes that a complete solution to mobile vehicle localization is a long way off.