LARAH (Location-aware Assistant Robots At Home) aimed at providing older persons with an assistive robot, to provide support and safety in their own homes. This project developed a visual indoor localization solution for mobile assistive robots. The advanced localization technology proposed in LARAH will improve the assessment of the own position of the robot, and support tasks such as, finding and bringing objects, opening doors, and in finding persons in case of an emergency (e.g. fall).