1. A computer-implemented method for localizing an object moving in an unknown environment, comprising executing on a processor the operations of: providing k position marks at undetermined positions p 1 , p 2. .. , p k representing real positions in the unknown environment that are spaced apart from one another, where {p 1 ,. .. , p k }ε , where k is a natural number greater than or equal to 3, each of the position marks including a respective transmitter configured to emit a respective signal; repeatedly operating a transceiver included at the object to receive the respective signals emitted by the respective transmitters of the position marks at uncontrolled instants, and processing the respective signals to determine distances between the object and each of the position marks independently of one another at the uncontrolled instants, such that the distances are represented by distance values {r 1 ,. .. , r n }ε which are present at the uncontrolled instants {t 1 ,. .. , t n }ε ; and determining a motion curve x(t)ε according to x ⁡ ( t ) = ∑ i = 1 n ⁢ α i ⁢ k ⁡ ( t , t i ) , where n represents a number of distance measurements used and each function k(t, t i ) is a positively defined kernel function, and where {α 1 ,. .. , α n }ε are coefficient vectors that are estimated using smoothness conditions based on a regularization term formed with the kernel functions.