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A Discussion of Simultaneous Localization and Mapping
Autonomous Robots, 2006This paper aims at a discussion of the structure of the SLAM problem. The analysis is not strictly formal but based both on informal studies and mathematical derivation. The first part highlights the structure of uncertainty of an estimated map with the key result being "Certainty of Relations despite Uncertainty of Positions".
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Simultaneous localization and mapping based on the local volumetric hybrid map
2015 IEEE Intelligent Vehicles Symposium (IV), 2015Simultaneous localization and mapping (SLAM) plays a significant role in autonomous vehicles when a global navigation satellite system (GNSS) is not available. Environment models and underlying estimation techniques are key factors of this algorithm.
Jaebum Choi, Markus Maurer
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Simultaneous Localization and Mapping
2010In this chapter a SLAM framework for AUVs equipped with an MSIS operating in manmade structured environments is proposed. In the previous chapter, the use of techniques such as the Hough transform and the Kalman filter were studied in the context of a localization problem. Here, these techniques are further explored for their application in SLAM.
David Ribas, Pere Ridao, José Neira
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Multiple robot simultaneous localization and mapping
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011In this research, a decentralized platform for SLAM with multiple robots has been developed. An EKF-based single-robot SLAM is extended to multiple-robot SLAM with a novel occupancy grid map fusion algorithm. Map fusion is achieved through a multi-step process that includes image preprocessing, segmentation, cross correlation, approximating the ...
Sajad Saeedi G. +3 more
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Map Management for Efficient Simultaneous Localization and Mapping (SLAM)
Autonomous Robots, 2002zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Gamini Dissanayake +3 more
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Simultaneous Localization and Mapping for Forest Harvesters
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007A real-time SLAM (simultaneous localization and mapping) approach to harvester localization and tree map generation in forest environments is presented in this paper. The method combines 2D laser localization and mapping with GPS information to form global tree maps.
Mikko Miettinen +3 more
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Visual simultaneous localization and mapping: a survey
Artificial Intelligence Review, 2012Visual SLAM (simultaneous localization and mapping) refers to the problem of using images, as the only source of external information, in order to establish the position of a robot, a vehicle, or a moving camera in an environment, and at the same time, construct a representation of the explored zone.
Jorge Fuentes-Pacheco +2 more
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Topological simultaneous localization and mapping: a survey
Robotica, 2013SUMMARYOne of the main challenges in robotics is navigating autonomously through large, unknown, and unstructured environments. Simultaneous localization and mapping (SLAM) is currently regarded as a viable solution for this problem. As the traditional metric approach to SLAM is experiencing computational difficulties when exploring large areas ...
Jaime Boal +2 more
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Planetary Monocular Simultaneous Localization and Mapping
Journal of Field Robotics, 2015Planetary monocular simultaneous localization and mapping (PM‐SLAM), a modular, monocular SLAM system for use in planetary exploration, is presented. The approach incorporates a biologically inspired visual saliency model (i.e., semantic feature detection) for visual perception in order to improve robustness in the challenging operating environment of ...
Abhinav Bajpai +3 more
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A brief review of simultaneous localization and mapping
IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017This paper reviews the development history of simultaneous localization and mapping (SLAM) and concentrates on two mainstream methods: the filter-based method and the vision-based graph optimization method. FastSLAM and Real-Time Appearance-Based Mapping (RTAB-MAP) as two examples are adopted in the real experiments.
Zhiwei Kong, Qiang Lu 0001
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