Simultaneous localization and mapping: part I

This paper describes the simultaneous localization and mapping (SLAM) problem and the essential methods for solving the SLAM problem and summarizes key implementations and demonstrations of the method. While there are still many practical issues to overcome, especially in more complex outdoor enviro...

Full description

Saved in:
Bibliographic Details
Published inIEEE robotics & automation magazine Vol. 13; no. 2; pp. 99 - 110
Main Authors Durrant-Whyte, H., Bailey, T.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.06.2006
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Artificial intelligence
Automation
Bayesian methods
Buildings
Computation
History
Localization
Mapping
Mobile robots
Navigation
Outdoor
Particle filters
Position (location)
Representations
Robotics
Robotics and automation
Simultaneous localization and mapping
Vehicles
Online AccessGet full text

Cover

More Information
Summary:This paper describes the simultaneous localization and mapping (SLAM) problem and the essential methods for solving the SLAM problem and summarizes key implementations and demonstrations of the method. While there are still many practical issues to overcome, especially in more complex outdoor environments, the general SLAM method is now a well understood and established part of robotics. Another part of the tutorial summarized more recent works in addressing some of the remaining issues in SLAM, including computation, feature representation, and data association.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1070-9932
1558-223X
DOI:10.1109/MRA.2006.1638022