This paper is part II of a paper published in the previous issue of Robotica. This part proceeds from the assumption that 3D features have been calssified into either a plane, a 2D corner type I or II, or a 3D corner using the Maximum Likelihood Estimator. The location of the 3D features from the results of the Maximum Likelihood Estimation are derived here. Experimental results characterising the ultrasonic sensor and its application to a robot localisation problem are presented in this paper.
