Summary Chiel van der Laan
The problem of mapping can be solved by constructing a 2D scan with a LIDAR system from a 3D environment.  After which it the localization can be done in the 2D mapped environment for lower processing power. An example of the visual validation of localization can be seen in figure 1. The LIDAR system for the mapping and localization has to be able to scan a large area at once and has to be high on top of the mobility scooter because of this.