Mobile robot localization in a known map [closed]

I want to localize a mobile robot equipped with a 2D laser scanner in a known indoor environment. The map is a 2D occupancy grid, but is not perfect.

What algorithms are appropriate for mobile robot localization?

• This is really broad - what sensor(s)? What environment? What is the map? – Crake Oct 23 '12 at 21:12
• True, I've improved the question a little. – Felix Oct 24 '12 at 18:25

Although by Given sensors I assume you don't know what method you are going to use... I'm sure there are other ways of getting your position to varying degrees of accuracy.