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Localization using satellite-based GPS is not available in underground mines, therefore a new approach is required. This paper presents a method for localizing a sensor-equipped vehicle in a large-scale underground environment by using a particle filter and a collection of 2D a priori node maps. Sporadically placed passive RFID tags are used in the creation of the locally consistent node maps and for helping to solve the global localization problem. Experimental results from real-time localization in the multi-kilometre Carleton University underground tunnels are presented.