Indoor localization has long been a challenging task due to the complexity and dynamism of indoor environments. This paper proposes ULG-SLAM. a novel unsupervised learning and geometric-based visual SLAM algorithm for robot localizability estimation to improve the accuracy and robustness of visual SLAM. Firstly. https://safeersappliancers.shop/product-category/bosch-kgn33nl3ag-a-rated-60-40-split-no-frost-fridge-freezer-in-inox-stainless/