Methods and systems for simultaneous localization and calibration

This invention helps a robot precisely determine its location and how its sensors are mounted, or even fine-tune its internal movement parameters. It works by having the robot observe specific markers in its environment, then building a detailed map of its journey and the markers. The system then uses this map to mathematically adjust all measurements, creating the most accurate possible understanding of its position and internal settings, specifically for wheeled robots, including factors like wheel diameter and turning delays.