Three landmark localization

This tutorial is about a strategy for figuring out where your robot is within a room and what direction it is facing. This implementation uses a camera to do this but other sensors could be used as well and it would almost certainly be more computationally efficient if you didn't use a camera. It uses two key algorithms: blob finding and the actual three landmark localization algorithm. I worked out the math for the three landmark localization algorithm myself (sometime around 2016) but I've invented things a couple of times before only to find that someone else had invented it previously so I'm not holding my breath that this is anything novel.
Robot TV