Simultaneous Localization And Mapping: A feature-based probabilistic approach

• Autorzy: Piotr Skrzypczyński
• Języki publikacji: EN

Abstrakty

EN

This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM problem is introduced, and a solution based on the Extended Kalman Filter (EKF-SLAM) is shown. Important issues of convergence, consistency, observability, data association and scaling in EKF-SLAM are discussed from both theoretical and practical points of view. Major extensions to the basic EKF-SLAM method and some recent advances in SLAM are also presented.

Słowa kluczowe

EN

mobile robot; navigation; simultaneous localization and mapping; feature matching

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2009
• Tom: 19
• Numer: 4
• Strony: 575-588

Daty

wydano

2009

otrzymano

2009-07-16

Twórcy

autor

Piotr Skrzypczyński

• Institute of Control and Information Engineering, Poznań University of Technology, ul. Piotrowo 3A, 60-965, Poznań, Poland

Bibliografia

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Identyfikatory

DOI

10.2478/v10006-009-0045-z