随着人类社会不断进步以及GPS等室外定位技术在日常生活中越来越普及，人们对在室内实现定位的需求也越来越强烈。
Along with the human social progress and outdoor location technology such as GPS becomes more and more popular in daily life, the requirement of realizing indoor location also becomes stronger.
针对移动机器人在室外环境中的定位提出了一种基于视觉量角计的定位算法。
A localization algorithm based on visual protractor was proposed in order to solve the problem of mobile robot localization in outdoor environments.
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