Title :
Simultaneous localization and mapping (SLAM): part II
Author :
Bailey, Tim ; Durrant-whyte, Hugh
Author_Institution :
Australian Centre for Field Robotics, Sydney Univ., NSW
Abstract :
This paper discusses the recursive Bayesian formulation of the simultaneous localization and mapping (SLAM) problem in which probability distributions or estimates of absolute or relative locations of landmarks and vehicle pose are obtained. The paper focuses on three key areas: computational complexity; data association; and environment representation
Keywords :
Bayes methods; computational complexity; mobile robots; path planning; statistical distributions; computational complexity; data association; environment representation; mobile robot; probability distributions; recursive Bayesian formulation; simultaneous localization and mapping; vehicle pose; Bayesian methods; Computational complexity; Computational efficiency; Delay estimation; Mobile robots; Robotics and automation; Robustness; Simultaneous localization and mapping; Uncertainty; Vehicles;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2006.1678144
