Python Robot

So /prog/ I have a question.

I am currently programming a robot, made from a beagleboard and additional hardware (token ring motor, servo, power and IO boards) which uses a camera and a QR code library to get the distance to the marker and the angle.
There are arena markers, box markers and pedestool markers, along with robot markers.

I can move to a box marker and align to pick up, so far.

What is the best way to localise my robot in the arena?

Found a nice demo called poor robbie is lost which demonstrates particle filter localisation, but I have no idea how to implement it with just a camera.

Docs are here: https://www.studentrobotics.org/docs/programming/sr/vision/

Can supply more sauce if necessary. Thanks!

would like to make use of pathfinding and maps, also.

Demo map:

5 = Pedestool with box on top
4 = box
3 = Pedestool
2 = markered wall
1 = wall

121111111121
2          2
1   3  3   1
1          1
2   5  3   2
1          1
1   3  3   1
1          1
2   4 4 4  2
121111111121

Pedestool
*chortle*

As always, solve the problem in software before applying it to robots.

>>2
Pedestool
Fucking illiterate niggers.