Mobile robots are prospected to significantly improve the efficiency and productivity of individuals. However, to fulfil their required tasks, they must be able to efficiently manoeuvre in their surrounding environments. This requirement necessitates that these robots posses the ability to acquire their current position and orientation within their work space. To acquire this information, mobile robots need precise and reliable perception techniques. Different perception methods has been described in Before beginning, I am extremely grateful to Allah for allowing me to reach this point in pursuing my goals. I am also extremely thankful for my supervisors Professor Jie Liu and Professor Jurek Sasiadek for their continuous support and encouragement along the Masters' journey. I am also thankful for my colleagues in the research lab for their encouragement and insightful suggestions for improving this work.
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