1. A method of localizing an object in a space, comprising: retrieving from data storage a digital map of the space; with a localizing module run by a controller, identifying a plurality of potential locations for the object in the space; with the localizing module based on the digital map, generating a prediction of expected ranges between the object and surfaces in the space for each of the potential locations; operating a ranging device to measure ranges to the surfaces in the space; and comparing, for each of the predictions, the measured ranges with the expected ranges to identify one of the predictions as an accurate prediction.