Localization with Single or Antipodal Distance Measurements

Barak Ugav, Steven M. LaValle, Dan Halperin

Given a polygonal workspace $W$, a depth sensor placed at point $p=(x,y)$ inside $W$ and oriented in direction $\hat{I}¸$ measures the distance $d=h(x,y,\hat{I}¸)$ between $p$ and the closest…