To use a world model, a mobile robot must be able to determine its own position in the world. To support truly autonomous navigation, I present MARVEL, a system that builds and maintains its own models of world locations and uses these models to recognize its world position from stereo vision input. MARVEL is designed to be robust with respect to input errors and to respond to a gradually changing world by updating its world location models. I present results from real-world tests of the system that demonstrate its reliability. MARVEL fits into a world modeling system under development.
