DocumentCode
566149
Title
An overview of the simultaneous localization and mapping on mobile robot
Author
Li, Jie ; Cheng, Lei ; Wu, Huaiyu ; Xiong, Ling ; Wang, Dongmei
Author_Institution
Engineering Research Center of Metallurgical Automation and Measurement Technology, Ministry of Education, Wuhan University of Science and Technology, 430081, China
fYear
2012
fDate
24-26 June 2012
Firstpage
358
Lastpage
364
Abstract
Localization and map building of mobile robots is a fundamental and important problem in research on robotics. This paper comprehensively surveyed the simultaneous localization and mapping (SLAM) of robot under the unknown environment. The researches of mobile robot SLAM all of the world in recent years are summarized and analyzed. The basic idea of the SLAM and the characteristics and categories of the map representation and self-location based on probability theory are detailedly analyzed and described in this paper. At the same time, the characteristics and limitations of the various research methods for SLAM are pointed out, and two typical implementing mechanisms of the SLAM are introduced.
Keywords
EKF; FastSLAM; SLAM; Self-localization; The mobile robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Modelling, Identification & Control (ICMIC), 2012 Proceedings of International Conference on
Conference_Location
Wuhan, Hubei, China
Print_ISBN
978-1-4673-1524-1
Type
conf
Filename
6260331
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