Title
A Real-time Positioning System for Mobile Robots Based on Laser Triangulation

Abstract
This thesis describes a method for determining the position and orientation of a mobile robot based on laser triangulation. It discusses the governing equations and the numerical method necessary to solve them. Detector devices for sensing the laser beam as it sweeps by are discussed along with the method for manufacturing them. The position and orientation errors of the system are determined and the results are discussed.

Source: Northwestern University, Masters Thesis 12/2000