Mobile Robot Visual Localization: A feature-based approach A. Gil, C. Fernández, M.A. Vicente, O. Reinoso, L. M. Jiménez Abstract: In order to be fully autonomous, amobile robot must possess the skill of finding its location in a particular environment. In other words, while navigationg, a mobile robot must be capable of finding its location in a map of the environment (i.e. its pose ), otherwise the robot will not be able to complete its task. The problem becomes specially challenging if the robot does not possess any external measure of its global position. Naively, the position/orientation of the robot can be determined using odometry sensors or inertial systems. However, these sensors lack of accuracy when used for long periods of time, due to wheel slippage, drifts and other problems. Localization techniques are used instead, in order to find the position of the mobile agent in the space. The great majority of localization methods rely on finding salient characteristics sensed by teh robot and relating them with a map of the enviroment. In this paper we present a localization method based on the Monte Carlo algorithm.