> For the complete documentation index, see [llms.txt](https://carec.gitbook.io/carec-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://carec.gitbook.io/carec-docs/documentation/autonomous-mobility/indoor-localization-options.md).

# Indoor Localization Options

CAREC may combine multiple localization sources.

| Method                    | Strength                      | Limitation                         |
| ------------------------- | ----------------------------- | ---------------------------------- |
| Wheel odometry            | Simple and high-rate          | Accumulates slip error             |
| IMU                       | Short-term motion/orientation | Drifts over time                   |
| LiDAR SLAM                | Strong geometry and mapping   | Glass and dynamic scenes           |
| Visual SLAM               | Rich landmarks                | Lighting, privacy, motion blur     |
| Depth localization        | Indoor geometry               | Range and surface limitations      |
| Fiducial landmarks        | Precise in prepared areas     | Requires infrastructure            |
| BLE anchors/trilateration | Room-level assistance         | Multipath and limited precision    |
| UWB                       | Better ranging potential      | Requires supporting infrastructure |

## Selection criteria

Accuracy, update rate, uncertainty, initialization, relocalization, drift, environment, infrastructure, privacy, power, compute, mounting, availability, and failure detection.

The localization output must include uncertainty and health. Autonomous motion stops or degrades when localization confidence is insufficient, regardless of which method produced the pose.


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