37. Simultaneous Localization and Mapping Simultaneous

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Springer Handbook of RoboticsSiciliano, Khatib (Eds.) Springer 20081871Simultaneous37. Simultaneous Localization and MappingSebastian Thrun, John J. LeonardThis chapter provides a comprehensive intro-duction in to thesimultaneous Localization andmapping problem, better known in its abbrevi-ated form the problemof a robot navigating an unknown navigating the environment, the robot seeksto acquire a map thereof, and at the same time itwishes to localize itself using its map. The use ofSLAMproblems can be motivated in two differentways: one might be interested in detailed envi-ronment models, or one might seek to maintainan accurate sense of a mobile robot s both of these review three major paradigms of algorithmsfrom which a huge number of recently publishedmethods are derived.

37. Simultaneous Localization and MappingSimultaneous Sebastian Thrun, John J. Leonard ... simultaneous localization and mapping (SLAM). SLAM addresses the problem of ac- ... [37.6,7] for a recent in-depth tutorial for SLAM. 37.2 SLAM: Problem Definition 37.2.1 Mathematical Basis The SLAM problem is defined as follows. A mobile

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