1. An autonomous mobile robot comprising: a signal sensor configured to detect a portion of a signal emitted into an environment of the robot and provide a value representing a property of the detected portion of the signal; a movement system configured to move the robot along a floor surface of the environment; a motion sensor configured to detect a motion of the robot; and a controller configured to: determine a predicted value of the property of the detected portion of the signal for a particular pose of the robot, estimate a pose of the robot based at least in part on the provided value of the property, the detected motion of the robot, and the predicted value of the property for the particular pose, and control, based on the estimated pose, an operation of the movement system to navigate the robot about the floor surface.