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In this paper we examine issues of localization, exploration, and planning in the context of a hybrid robot/camera-network system. We exploit the ubiquity of camera networks to use them as a source of localization data. Since the Cartesian position of the cameras in most networks is not known accurately, we consider the issue of how to localize such cameras. To solve this hybrid localization problem, we divide it into a local problem of camera-parameter estimation combined with a globaldoi:10.1016/j.robot.2006.05.009 fatcat:qca4h4uxrba3dl75aimntcvttu