TUTORIAL Simultaneous Localization and Mapping: Part I

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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. slam has also beenimplemented in a number of different domains from indoorrobots to outdoor, underwater, and airborne systems. At atheoretical and conceptual level, slam can now be consid-ered a solved problem.

Simultaneous Localization and Mapping: Part I BY HUGH DURRANT-WHYTE AND TIM BAILEY T he simultaneous localization and mapping (SLAM) problem asks if it is possible for a mobile robot to be placed at an unknown location in an unknown envi-ronment and …

  Mapping, Simultaneous, Slam, And mapping