and orientation) in a fixed reference frame1,2. 1Guibas, L.J., Motwani, R. and Raghavan, P., 1997. The robot localization problem. SIAM Journal on Computing, 26(4), pp.1120-1138. 2Wang, C.M., 1990. Location estimation and uncertainty analysis for mobile robots. In Autonomous robot vehicles (pp. 90-95). Springer, New York, NY. Localization State space Environment 2D: (x, y, ). 3D: (x, y, z, , , ) Indoor Outdoor Introduction / Motivation Problem statement Methodology Sliding window Results Conclusion Introduction / Motivation Problem statement Sliding window Methodology Results Conclusion Introduction / Motivation Problem statement Methodology Sliding window Results Conclusion Introduction / Motivation Problem statement System overview Methodology Results Conclusion What is localization? 3