%0 Journal Article %A Omid Sojodishijani and Saeed Ebrahimijam and Vahid Rostami %D 2007 %J International Journal of Mechanical and Mechatronics Engineering %B World Academy of Science, Engineering and Technology %I Open Science Index 2, 2007 %T Localization by DKF Multi Sensor Fusion in the Uncertain Environments for Mobile Robot %U https://publications.waset.org/pdf/13563 %V 2 %X This paper presents an optimized algorithm for robot localization which increases the correctness and accuracy of the estimating position of mobile robot to more than 150% of the past methods [1] in the uncertain and noisy environment. In this method the odometry and vision sensors are combined by an adapted well-known discrete kalman filter [2]. This technique also decreased the computation process of the algorithm by DKF simple implementation. The experimental trial of the algorithm is performed on the robocup middle size soccer robot; the system can be used in more general environments. %P 224 - 227