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The localization problem : From robotics to sensor networks

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Figure 2.2: Rectangular environment: CE-MCL iteration
Figure 2.7: Corridor-like environment: CE-MCL sequence of iterations
Figure 4.2: Simulation environment. BCGA: Median pose error over 50 trials. Naive best hypothesis choice.
Figure 4.3: Real environment - Corridor - BCGA.
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