What does it take to solve the Simultaneous Localization and Mapping (SLAM) problem deterministically? Dudek et al. demonstrated that a single unique movable marker was sufficient. But is this necessary? Here we show that while neither a unique marker providing only position or orientation is sufficient to enable a deterministic solution, a marker that provides both position and orientation is. Such "directional lighthouse" information can be provided in a number of ways including through the addition of a single directional immovable marker in the environment.

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