Simultaneous localization and mapping: Part I
Simultaneous localization and mapping: Part I
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DOI：
10.1109/mra.2006.1638022
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发表时间：
2006-06-01
影响因子：
5.7
通讯作者：
Bailey, Tim
中科院分区：
文献类型：
--
作者：
Durrant-Whyte, Hugh;Bailey, Tim
本文介绍了同步定位与地图构建（SLAM）问题和解决SLAM问题的基本方法，并总结了该方法的关键实现和演示。虽然仍然有许多实际问题需要克服，特别是在更复杂的户外环境中，但一般的SLAM方法现在是机器人技术的一个很好理解和建立的部分。本教程的另一部分总结了解决SLAM中一些剩余问题的最新工作，包括计算，特征表示和数据关联。
This paper describes the simultaneous localization and mapping (SLAM) problem and the essential methods for solving the SLAM problem and summarizes key implementations and demonstrations of the method. While there are still many practical issues to overcome, especially in more complex outdoor environments, the general SLAM method is now a well understood and established part of robotics. Another part of the tutorial summarized more recent works in addressing some of the remaining issues in SLAM, including computation, feature representation, and data association.