ro-localization - Man Page

Monte-Carlo localization for beacon range-only measurements


ro-localization config_file.ini


ro-localization is a command-line application which processes a rawlog and  tracks a mobile robot pose from the sequence of odometry and observations. It can also  perform global localization.

This program is a specialization of pf-localization, with an extended model to  cope with unknown, dynamic biases in the beacon ranges. It also shows a real-time  visualization in 3D of the particles, the beacons, and the measurements.


Please report bugs at

See Also

The application wiki page at



ro-localization is part of the Mobile Robot Programming Toolkit (MRPT), and was originally  written by the MAPIR laboratory (University of Malaga).

This manual page was written by Jose Luis Blanco <>.


2023-06-12 perl v5.36.1 Mobile Robot Programming Toolkit - MRPT