Abstract: A method for localizing a robot in a localization plane with a bi-dimentional reference with axis x and y comprises: determining by odometry an estimation of coordinates x1 and y1 and orientation ?1 of the robot; determining an estimation ?2 of the orientation of the robot using a virtual compass; determining an estimation ?3 of the orientation of the robot by correlating parts of a reference and a query panorama; determining an estimation x4, y4 of the robot position using Iterative Closest Points; determining standard deviations ?_x1, ?_x2, ?_?1 ?_?2, ?_?3, ?_x4, ?_y4 of the estimations; determining probability distributions G(x1), G(y1), G(?1), G(?2), G(?3), G(x4), G(y4) of each estimation using standard deviations; determining three global distributions GLOB(x), GLOB(y), GLOB(?) and a global estimation xg, yg of the coordinates of the robot in the localization plane and a global estimation ?g of its orientation by applying maximum likelihood to global distributions.

Abstract: A method for localizing a robot in a localization plane with a bi-dimentional reference with axis x and y comprises: determining by odometry an estimation of coordinates x1 and y1 and orientation ?1 of the robot; determining an estimation ?2 of the orientation of the robot using a virtual compass; determining an estimation ?3 of the orientation of the robot by correlating parts of a reference and a query panorama; determining an estimation x4, y4 of the robot position using Iterative Closest Points; determining standard deviations ?_x1, ?_x2, ?_?1 ?_?2, ?_?3, ?_x4, ?_y4 of the estimations; determining probability distributions G(x1), G(y1), G(?1), G(?2), G(?3), G(x4), G(y4) of each estimation using standard deviations; determining three global distributions GLOB(x), GLOB(y), GLOB(?) and a global estimation xg, yg of the coordinates of the robot in the localization plane and a global estimation ?g of its orientation by applying maximum likelihood to global distributions.

Abstract: A method for estimating the angular deviation of a moving element relative to a reference direction comprises the following steps: acquisition of a reference image of a reference direction of the moving element; acquisition of a current image of the current direction of the moving element; identification of points of interest in the reference image and in the current image; determination of at least two pairs of points of interest, one pair being made up of a point of interest in the current image and of a point of interest corresponding thereto in the reference image; determination of the angular deviation between the current direction and the reference direction of the moving element by using the at least two pairs of points identified in the preceding step.