# ALLocalization ¶

NAOqi Vision - Overview | API | Tutorial | Advanced

## What it does ¶

ALLocalization is a module dedicated to the localization of the robot in an indoor environment.

## How it works ¶

ALLocalization computes the orientation of the robot in a robust manner, using information provided by vision.

For further details, see: ALLocalization - advanced .

## Getting started ¶

You can set a reference pose2D (x, y, theta) called “home” with  ALLocalizationProxy::learnHome  . Then you can return to this pose2D using  ALLocalizationProxy::goToHome  .

For further details, see: ALLocalization Tutorial .