DocumentCode
957455
Title
Simultaneous localization and mapping: part I
Author
Durrant-whyte, Hugh ; Bailey, Tim
Author_Institution
Australian Centre for Field Robotics, Sydney Univ., NSW
Volume
13
Issue
2
fYear
2006
fDate
6/1/2006 12:00:00 AM
Firstpage
99
Lastpage
110
Abstract
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
Keywords
mobile robots; path planning; SLAM problem; mobile robots; simultaneous localization and mapping problem; Artificial intelligence; Bayesian methods; Buildings; History; Mobile robots; Navigation; Particle filters; Robotics and automation; Simultaneous localization and mapping; Vehicles;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/MRA.2006.1638022
Filename
1638022
Link To Document