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In this paper, aiming for mobile robot localization in indoor environments, a loosely coupled architecture, which combines indoor Real-time Locating System (RTLS) and dead reckoning (DR) system, is proposed. Within this architecture, the DR is simple and cost effective but subjected to accumulative error; the indoor RTLS can provide absolute, consistent localization estimates, therefore is complementary to DR sensors. The most outstanding feature of this architecture is that it can easilydoi:10.1109/wowmom.2010.5534949 dblp:conf/wowmom/LiuWEKL10 fatcat:obexmoxhk5bd5jxffghtobg7k4