A Comprehensive Study of Three Object Triangulation

@inproceedings{Cohen1992ACS,
  title={A Comprehensive Study of Three Object Triangulation},
  author={Charles C. Cohen and Frank V. Koss},
  year={1992}
}
Given three landmarks whose location in Cartesian space is known, and a robot with the ability to detect each landmark’s heading with respect to the robot’s internal orientation, the task is to determine the robot’s location and orientation in Cartesian space. Although methods are mentioned in literature, none are completely detailed to the point where useful algorithms to compute the solution are given. 
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