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Perception is the first step for a mobile robot to perform any task and for it to gain perception mobile robots use sensors to measure the states which represent the surrounding environment. Sensors measurements are always combined with some sort of uncertainty and noise. Which can make the system very unstable and unreliable. In order to get better readings we can always use better types of sensors where we come to a trade off between price and quality. And that's why our proposed approach todoi:10.1051/matecconf/20164203008 fatcat:wo63zwfrjnh7voppzeqy27dip4