Title :
A review of recent developments in Simultaneous Localization and Mapping
Author :
Dissanayake, Gamini ; Huang, Shoudong ; Wang, Zhan ; Ranasinghe, Ravindra
Author_Institution :
Centre for Autonomous Syst. (CAS), Univ. of Technol., Sydney, NSW, Australia
Abstract :
Simultaneous Localization and Mapping (SLAM) problem has been an active area of research in robotics for more than a decade. Many fundamental and practical aspects of SLAM have been addressed and some impressive practical solutions have been demonstrated. The aim of this paper is to provide a review of the current state of the research on feature based SLAM, in particular to examine the current understanding of the fundamental properties of the SLAM problem and associated issues with the view to consolidate recent achievements.
Keywords :
SLAM (robots); feature based SLAM; robotic navigation; simultaneous localization and mapping; Extended Information Filter; Extended Kalman Filter; Observability; Optimization; SLAM;
Conference_Titel :
Industrial and Information Systems (ICIIS), 2011 6th IEEE International Conference on
Conference_Location :
Kandy
Print_ISBN :
978-1-4577-0032-3
DOI :
10.1109/ICIINFS.2011.6038117
