TUTORIAL Simultaneous Localization and …

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JUNE 2006IEEE Robotics & Automation Magazine99TUTORIALSimultaneous Localizationand mapping : Part I BY HUGH durrant -WHYTE AND TIM BAILEYThe Simultaneous Localization and mapping (SLAM)problem asks if it is possible for a mobile robot to beplaced at an unknown location in an unknown envi-ronment and for the robot to incrementally build a consistentmap of this environment while simultaneously determining itslocation within this map. A solution to the SLAM problemhas been seen as a holy grail for the mobile robotics com-munity as it would provide the means to make a robot solution of the SLAM problem has been one of thenotable successes of the robotics community over the pastdecade. SLAM has been formulated and solved as a theoreticalproblem in a number of different forms.

JUNE 2006 IEEE Robotics & Automation Magazine 99 TUTORIAL Simultaneous Localization and Mapping: Part I BY HUGH DURRANT-WHYTE AND TIM BAILEY T he simultaneous localization and mapping (SLAM)

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