Abstract: Systems and methods for localization and mapping an environment using a measurement device are provided. One system includes a vehicle, first and second measurement devices configured to generate range/azimuth data for reference landmarks in the environment, a processor, and memory. The memory includes a map module storing data representing a map of the environment including known coordinates for the plurality of reference landmarks. One method includes generating a map of the environment based on known coordinates for each of the plurality of reference landmarks, receiving range and azimuth data for each of a plurality of candidate reference landmarks from a measurement device, and identifying each of the plurality of reference landmarks in the plurality of candidate reference landmark. The method further includes associating the plurality of candidate reference landmarks with the plurality of reference landmarks in the map and localizing a mobile platform based on the associating step.