Portal de Periódicos da CAPES

Simultaneous localization and mapping: part I

2006; Institute of Electrical and Electronics Engineers; Volume: 13; Issue: 2 Linguagem: Inglês

10.1109/mra.2006.1638022

1558-223X

Hugh Durrant‐Whyte, T. Bailey,

Robotic Path Planning Algorithms

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.