1 Simultaneous Localisation and Mapping (SLAM): Part I The ...

1 Simultaneous Localisation and Mapping ( slam ):Part I The Essential AlgorithmsHugh Durrant-Whyte,Fellow, IEEE, and Tim BaileyAbstract This tutorial provides an introduction to Simul-taneous Localisation and Mapping ( slam ) and the exten-sive research on slam that has been undertaken over thepast decade. slam is the process by which a mobile robotcan build a map of an environment and at the same timeuse this map to compute it s own location. The past decadehas seen rapid and exciting progress in solving the slam problem together with many compelling implementations ofSLAM methods. Part I of this tutorial (this paper), de-scribes the probabilistic form of the slam problem, essen-tial solution methods and significant implementations. PartII of this tutorial will be concerned with recent advances incomputational methods and new formulations of the slam problem for large scale and complex IntroductionThe Simultaneous Localisation and Mapping ( slam )problem asks if it is possible for a mobile robot to be placedat an unknown location in an unknown environment andfor the robot to incrementally build a consistent map ofthis environment while simultaneously determining its lo-cation within this map.

1 Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms Hugh Durrant-Whyte, Fellow, IEEE, and Tim Bailey Abstract|This tutorial provides an introduction to Simul- taneous Localisation and Mapping (SLAM) and the exten-

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  Mapping, Tutorials, Simultaneous, Slam, Localisation, Simultaneous localisation and mapping

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