Abstract—Localizing mobile robots in the large environments has become a challenging problem in robotics literature. The
critical issues in this area are the robustness for error accumulation and the accuracy of the estimated pose. To make
our localization system robust and accurate in both indoor and outdoor environments, we develop a localization solution
using sensor fusion and propose a general unified probabilistic framework by using the various sensor data. For long-distance navigation including indoor and outdoor environments, we evaluate the robustness and accuracy of our localization results.
critical issues in this area are the robustness for error accumulation and the accuracy of the estimated pose. To make
our localization system robust and accurate in both indoor and outdoor environments, we develop a localization solution
using sensor fusion and propose a general unified probabilistic framework by using the various sensor data. For long-distance navigation including indoor and outdoor environments, we evaluate the robustness and accuracy of our localization results.