Transcription of 1 A Solution to the Simultaneous Localisation and Map ...
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1 A Solution to the Simultaneous Localisation and Map ...
1 ASolutiontotheSimultaneousLocalisationan dMapBuilding(SLAM) Dissanayake, , S. Clark, Durrant-Whyte and M. CsorbaAustralian Centre for Field RoboticsDepartment o fMechanical and Mechatronic EngineeringThe University o fSydneyNSW 2006, AustraliaAbstract The Simultaneous Localisation and map building (SLAM) problem asks if it is possible for an autonomous ve-hicle to start in an unknown location in an unknown environ-ment and then to incrementally build a map of this environ-ment while simultaneously using this map to compute abso-lute vehicle location .Starting from the estimation-theoreticfoundations of this problem developed in [1], [2], [3], this pa-per proves that a Solution to the SLAM problem is indeedpossible .The underlying structure of the SLAM problem isfirst elucidated.
1 A Solution to the Simultaneous Localisation and Map Building (SLAM) Problem M.W.M.G. Dissanayake, P.Newman, S. Clark, H.F. Durrant-Whyte and M. Csorba
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