---
name: "ro-localization"
section: "1"
platform: "linux"
package: "mrpt-apps"
version: "1:2.14.7+ds-1+b3"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/ro-localization"
---

# ro-localization(1)

Monte-Carlo localization for beacon range-only measurements

## NAME

ro-localization - Monte-Carlo localization for beacon range-only measurements

## SYNOPSIS

ro-localization *config\_file.ini*

## DESCRIPTION

**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.

## BUGS

Please report bugs at https://github.com/MRPT/mrpt/issues

## SEE ALSO

The application list and their documentation: https://docs.mrpt.org/reference/latest/applications.html

**pf-localization**

## AUTHORS

**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 \<joseluisblancoc@gmail.com\>.

## COPYRIGHT

This program is free software; you can redistribute it and/or modify it under the terms of the BSD License.

On Debian GNU/Linux systems, the complete text of the BSD License can be  found in \`/usr/share/common-licenses/BSD'.