An apparatus (10; 100) for performing a localization of a movable treatment device relative to a target surface, the movable treatment device comprising at least one inertial sensor and at least one further sensor comprising a pressure sensor arranged for measuring the pressure with which the treatment device is applied against the target surface, the moveable treatment device being configured to treat the target surface, the apparatus comprising a motion pattern classification device configured to discriminate between two or more motion classes (15 1, 15 2, 15 3,..., 15 k) contained in a set of motion classes of the movable treatment device, and an interface for providing at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n) from the inertial sensor to the motion pattern classification device, the at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n) representing a movement of the movable treatment device, wherein the interface is further arranged for providing at least one further sensor data from the further sensor to the motion pattern classification device in addition to the at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n), the at least one further sensor data comprising sensor data of the pressure sensor, wherein the motion pattern classification device comprises at least one neural network configured to receive the at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n) and sensor data of the pressure sensor, and to classify the at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n) and the sensor data of the pressure sensor with respect to the motion classes (15i, 15 2, 15 3,..., 15 k) contained in the set of motion classes, wherein said motion classes (15 1, 15 2, 15 3,..., 15 k) are each associated (20i, 20 2, 20 3,..., 20 k) with one or more different zones (21 1, 21 2, 21 3,..., 21 m) relating to the target surface so that the classification of the at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n) and the sensor data of the pressure sensor with respect to the motion classes (15 1, 15 2, 15 3,..., 15 k) indicates an estimation of the location of the movable treatment device with respect to the one or more zones (21 1, 21 2, 21 3,..., 21 m) of the target surface. a motion pattern classification device configured to discriminate between two or more motion classes (15 1, 15 2, 15 3,..., 15 k) contained in a set of motion classes of the movable treatment device, and an interface for providing at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n) from the inertial sensor to the motion pattern classification device, the at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n) representing a movement of the movable treatment device, wherein the interface is further arranged for providing at least one further sensor data from the further sensor to the motion pattern classification device in addition to the at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n), the at least one further sensor data comprising sensor data of the pressure sensor, wherein the motion pattern classification device comprises at least one neural network configured to receive the at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n) and sensor data of the pressure sensor, and to classify the at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n) and the sensor data of the pressure sensor with respect to the motion classes (15i, 15 2, 15 3,..., 15 k) contained in the set of motion classes, wherein said motion classes (15 1, 15 2, 15 3,..., 15 k) are each associated (20i, 20 2, 20 3,..., 20 k) with one or more different zones (21 1, 21 2, 21 3,..., 21 m) relating to the target surface so that the classification of the at least one inertial sensor data (17 1, 17 2, 17 3,..., 17 n) and the sensor data of the pressure sensor with respect to the motion classes (15 1, 15 2, 15 3,..., 15 k) indicates an estimation of the location of the movable treatment device with respect to the one or more zones (21 1, 21 2, 21 3,..., 21 m) of the target surface.