Lecture #6 looked at localization.
There are two sections of notes available:
Part 1 are the colourful powerpoint notes derived from the book, part 2 are 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 ore than we had time to look at in the lecture).