Design and implementation of a small size robot localization system

The position of a mobile robot can be determined very precise today. A large number of high level sensor systems in combination with processing algorithms running on powerful hardware can provide (nearly) every requirement. But in case of limited financial and computational resources new approaches beside laser scanners and stereo cameras are necessary. In this paper we propose a localization system motivated by RoboCup Junior competitions but also suitable for similar applications. The paper describes the theoretical investigation of a multi sensor system, based on this the implementation with real hardware and its validation.