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@InProceedings{ICRA08-hester,
	author="Todd Hester and Peter Stone",
	title="Negative Information and Line Observations for Monte Carlo Localization",
	booktitle="{IEEE} International Conference on Robotics and Automation",
	location="Pasadena, CA",
	month="May",
	year="2008",
	abstract="Localization is a very important problem in
		robotics and is critical to many tasks performed on a mobile
		robot. In order to localize well in environments with few
		landmarks, a robot must make full use of all the information
		provided to it. This paper moves towards this goal by studying
		the effects of incorporating line observations and negative
		information into the localization algorithm. We extend the general
		Monte Carlo localization algorithm to utilize observations of
		lines such as carpet edges. We also make use of the information
		available when the robot expects to see a landmark but does
		not, by incorporating negative information into the algorithm.
		We compare our implementations of these ideas to previous
		similar approaches and demonstrate the effectiveness of these
		improvements through localization experiments performed both
		on a Sony AIBO ERS-7 robot and in simulation.",
	wwwnote={<a href="http://www.icra2008.org/">ICRA 2008</a>},
}