This thesis addresses the problem of localization and mapping in mobile robotics. The ability of a robot to build a map of an unknown environment from sensory information is required to perform self-localization and autonomous navigation. as a necessary condition to carry out more complex tasks. This problem has been widely investigated in the last decades. https://www.roneverhart.com/Craggy-Range-Sauvignon-Blanc-Te-Muna-Road-Vineyard-Martinborough-2022/