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This paper considers two problems which at first sight appear to be quite distinct: localizing a robot in an unknown environment and calibrating an embedded sensor network. We show that both of these can be formulated as special cases of a generalized localization problem. In the standard localization problem, the aim is to determine the pose of some object (usually a mobile robot) relative to a global coordinate system. In our generalized version, the aim is to determine the pose of alldoi:10.1109/iros.2001.976308 dblp:conf/iros/HowardMS01 fatcat:k7ko4rtcc5f57hf572lsexycie