Fig. 1
From: The hybrid Cramér-Rao lower bound for simultaneous self-localization and room geometry estimation
Room geometry and robot location at time instant k=1,2,3. Since the source and microphone are co-located in the x-y plane, it is impossible to discriminate between rotation and shifted versions of the room. To solve this, we set the initial robot location as the origin of the coordinate system (0,0), while the first robot step defines the orientation of the coordinate system. The robot moves at a constant step size μ and an orientation angle ϕk for each k