Fast, accurate, and robust self-localization in polygonal environments

Self-localization is important in almost all robotic tasks. For playing an aesthetic and effective game of robotic soccer, self-localization is a necessary prerequisite. When we designed our robotic soccer team for RoboCup´98, it turned out that all existing approaches did not meet our requirements of being fast, accurate, and robust. For this reason, we developed a new method, which is presented and analyzed in the paper We additionally present experimental evidence that our method outperforms other methods in the RoboCup environment