·        Navigation is one of the most challenging competencies required of a mobile robot.

·        Localization has received the greatest research attention in the past decade

·        Robot localization is the process of determining where a mobile robot is located, concerning

·        Localization in robotics could also be defined as the estimation of the current pose of a mobile robot relative to one or multiple landmarks in its environment. 

Key questions are

Where am I?

Where am I going?

How do I get it?

The answer to the above is:

To have a model of the environment

Perceive and analyze the environment

Find its position within the environment

Plane and execute the moment

Sensor Noise and Localization

•        Sensor noise induces a limitation on the consistency of sensor readings.

•        Often, the source of sensor noise problems is that some environmental features are not captured by the robot’s sensor

•        Internal sensors such as encoders may also provide noise due to mismatch of wheel diameter, slip of wheels, etc.

•        For example, a vision system used for indoor navigation in an office building may use the color values detected by its color CCD camera.

•        When the sun is hidden by clouds, the illumination of the building’s interior changes, resulting in inferior perception.