Geometric reasoning for map-based localization

An essential aspect of map-based navigation is the determination of an agent's current location based on sensed data from the environment. Formally, this amounts to specifying the current viewpoint in some world model coordinate system. This localization process has two distinct components: one involving the establishment of correspondences between aspects of the sensed data and the map or model, and the other involving derivation of constraints on the viewpoint based on the correspondences that have been determined.