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Robot localization is a key barrier to providing natural interaction between 3D virtual characters, human users and mobile robots. Knowing where the robot is, relative to a known world-frame, is essential to directed gestures, gazes and expressions between the robot and the other real and virtual participants in a telepresence system. The intrinsic noise of robots is a flexible and robust, yet under-examined, source for localization information. Sounds that likely localize the robot aredoi:10.1109/3dtv.2012.6365480 dblp:conf/3dtv/AllenPDMT12 fatcat:zeeh2tonyzcdzl3ufviacost6i