Mobile robots are known for their flexibility and autonomy, being able to execute dif- ferent tasks in dynamic and non-structured environments. Regardless of the robot’s aim, the main thing underlying the correct execution of whatever task is their abil- ity to move autonomously in environments that might be known or not. For this reason, great attention has been paid to develop efficient algorithms of localization and mapping, in particular when it come to environments where the most common GPS-tracking systems can not be used. Nowadays, mapping the surrounding envi- ronment and localizing a robot inside the map created can be done simultaneously using SLAM (Simultaneous localization and mapping) algorithms.