| As devices are becoming more and more intelligent, and augmented by the ability to communicate with other devices via wireless channels, location aware computing is gaining in importance. In fact, the localization problem has been identified as a key problem in mobile robotics as it plays a fundamental role in various successful mobile robot systems. Location awareness also plays an important role in ubiquitous computing environments with tremendous potential in personal navigation and security systems, devices targeting people with disabilities, health-care, etc. For example, a mobile device could be made capable of providing a user with directions within a large building in real-time, by "knowing" where the user is at present relative to the building.; We propose a probabilistic approach to "global" localization within a home environment with minimal infrastructure requirements. (Abstract shortened by UMI.)... |
