... 4 8 12 15 20 093 91,5 87 ,5 84 71 291590 88 ,5 86 78 63 18, 5 30 86 84 79,5 73 45,5 11,5 45 82 78, 5 73,5 60 25,5 0 6077 72 56,5 32 12,5 0 7565,5 52,5 37 16 0 0 1.6.1 Robot Localization ... 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...