Graph-Based Simultaneous Localization And Mapping
Universit`a degli Studi di PadovaFacolt`a di Ingegneria IndustrialeCorso di Laurea Magistrale inIngegneria AerospazialeGraph-BasedSimultaneous LocalizationAnd MappingUsing a Stereo CameraLorenzo SalvucciRelatore:Prof. Stefano DebeiSupervisore:Marco PertileAnno accademico 2014-2015ContentsIntroduction91 Simultaneous Localization And Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . Problem Overview . . . . . . . . . . . . . . . . . . . . . . . . Taxonomy of the SLAM Problem . . . . . . . . . . . . . . . . SLAM Paradigms.
Chapter 1 Simultaneous Localization And Mapping 1.1 Introduction Consider a robot roaming an unknown environment, equipped with sensors to observe its surroundings.
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