Particle filter robot localisation through robust fusion of laser, WiFi, compass, and a network of external cameras

•Particle filter robot localisation fusing 2D laser, WiFi, compass and external cameras.•Works with any sensor combination (even if unsynchronized or different data rates).•Experiments in controlled situations and real operation in social events.•Analysis and discussion of performance of each sensor and all sensor combinations.•Best results obtained from the fusion of all the sensors (statistical significance).