Mobile robot localization in dynamic environments using places recognition

We present a new method to localize a mobile robot in dynamic environments. This method is based on place recognition, and a match between places recognized and the sequence of places that the mobile robot is able to see during a run from an initial place to an ending place. Our method gives a coarse idea of the robot´s position and orientation. Moreover, the robot can determine the actual state of places (i.e. open doors, closed doors)