This paper addresses the problem of mobile robot self-localization given a polygonal map and a set of observed edge segments. The standard approach uses interpretation tree search with pruning heuristics to match observed edges to map edges. Our approach i n troduces a preprocessing step in which the map is decomposed into view-invariant regions (VIRs). The VIR decomposition captures information about map edge visibility, and can be used f o r a v ariety of robot navigation tasks. Keywords| Mobile robot, computational geometry, l o c a lization, interpretation tree, robot navigation.
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