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A Tutorial on Graph-Based SLAM - uni-freiburg.de

1A Tutorial on Graph-Based SLAMG iorgio GrisettiRainer K ummerleCyrill StachnissWolfram BurgardDepartment of Computer Science, University of Freiburg, 79110 Freiburg, GermanyAbstract Being able to build a map of the environment andto simultaneously localize within this map is an essential skill formobile robots navigating in unknown environments in absenceof external referencing systems such as GPS. This so-calledsimultaneous localization and mapping ( slam ) problem hasbeen one of the most popular research topics in mobile roboticsfor the last two decades and efficient approaches for solving thistask have been proposed.

transformations in SE(2) or in SE(3), while the map can be represented in different ways. Maps can be parametrized as a set of spatially located landmarks, by dense representations like occupancy grids, surface maps, or by raw sensor measure-ments. The choice of a particular map representation depends

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