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A panoramic image based localisation system has been implemented on a B21r mobile robot and tested in a heavily cluttered environment. It takes vertical object edges as natural landmarks and extracts a one-dimensional token sequence from the input image before matching with reference image sequences. Matched points are then triangulated to give a set of position estimates, and the best result is taken as the current robot position. Selection criteria and methods for the reference image sitesdoi:10.1109/robot.2002.1013473 dblp:conf/icra/YuenM02 fatcat:3qaefbcx65hftfxtb5gtnjrgge