Lecture #7 looked at localization.
There are two sets of notes available. First we have the colourful powerpoint notes derived from the book:
Then we have my monochrome slides which go into the detail of Markov and Monte-Carlo (particle filer) localization:
The lecture covered material from Chapter 5 of the textbook. You should read this if you have the textbook (the textbook covers much more than we had time to look at in the lecture).