• Using the CONDENSATION Algorithm for Robust, Vision-Based Mobile Robot Localization 

      Burgard, Wolfram; Dellaert, Frank; Fox, Dieter; Thrun, Sebastian (Georgia Institute of Technology, 1999)
      To navigate reliably in indoor environments, a mobile robot must know where it is. This includes both the ability of globally localizing the robot from scratch, as well as tracking the robot’s position once its location ...