Self-Localization of Mobile Robot Based on Beacon Beam of TOF Laser Sensor Mounted on Pan-Tilt Actuator: Estimation Method that Combines Spot Coordinates on Laser Receiver and Odometry. - Ryoji Miura; Daichi Usagawa; Keigo Noguchi; Satoshi Iwaki; Tetsushi Ikeda (J. Robotics Mechatronics, 2022)