... 20 093 91,5 87, 5 84 71 291590 88,5 86 78 63 18,5 3086 84 79 ,5 73 45,5 11,5 4582 78 ,5 73 ,5 60 25,5 0 60 77 72 56,5 32 12,5 0 75 65,5 52,5 37 16 0 0 1.6.1 Robot Localization Inside ... global and/ or local object specific detail. Global details do not have a precise geometric location in-side the object, such as statistics of gray levels or colors, textures, etc. Lo-cal details ... symbols: capital letters, small letters, and numbers and icons like emergency exits, stairs, elevators, fire extinguishing materials, etc. The weight sets are tried se-quentially until a good...