publication . Article . Other literature type . 2001

A solution to the simultaneous localization and map building (SLAM) problem

M.W.M.G. Dissanayake; M. Csorba; Paul Newman; S. Clark; Hugh Durrant-Whyte;
Open Access
  • Published: 01 Jun 2001 Journal: IEEE Transactions on Robotics and Automation, volume 17, pages 229-241 (issn: 1042-296X, Copyright policy)
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Abstract
The simultaneous localization and map building (SLAM) problem asks if it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of this environment while simultaneously using this map to compute absolute vehicle location. Starting from estimation-theoretic foundations of this problem, the paper proves that a solution to the SLAM problem is indeed possible. The underlying structure of the SLAM problem is first elucidated. A proof that the estimated map converges monotonically to a relative map with zero uncertainty is then developed. It is then shown that the absolute accuracy of the m...
Subjects
arXiv: Computer Science::Robotics
free text keywords: Computer vision, Mobile robot, Artificial intelligence, business.industry, business, Estimation theory, Remotely operated underwater vehicle, Motion planning, Simultaneous localization and mapping, Upper and lower bounds, Robotic mapping, Perfect map, Computer science
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