A global localization apparatus, medium, and method, with the global
localization method including selecting one from a plurality of samples
and shifting the selected sample according to a movement of a robot,
generating a new sample within a predetermined range of the shifted
sample, determining either the shifted sample or the new sample as a next
sample at a next time step according to a predetermined condition for the
shifted sample and the next sample, repeating for all the samples, and
estimating a next position of the robot according to positions of the
next samples when the number of next samples is equal to or larger than
the maximum number of samples.