Transcription of Graph-Based Simultaneous Localization And Mapping
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Universit`a degli Studi di PadovaFacolt`a di Ingegneria IndustrialeCorso di Laurea Magistrale inIngegneria AerospazialeGraph-BasedSimultaneous LocalizationAnd MappingUsing a Stereo CameraLorenzo SalvucciRelatore:Prof. Stefano DebeiSupervisore:Marco PertileAnno accademico 2014-2015 ContentsIntroduction91 Simultaneous Localization And Introduction .. Problem Overview .. Taxonomy of the SLAM Problem .. SLAM Paradigms .. Kalman Filter .. Filters .. 23 Graph-Based Implementation302 Introductive On Graph-Based SLAM .. On This Implementation .. 333 Back Introduction.
Chapter 1 Simultaneous Localization And Mapping 1.1 Introduction Consider a robot roaming an unknown environment, equipped with sensors to observe its surroundings.
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