Creator:

Skrzypczyński, Piotr

Contributor:

Zieliński, Cezary - ed.

Title:

Simultaneous localization and mapping: A feature-based probabilistic approach

Subtitle:

.

Group publication title:

AMCS, volume 19 (2009)

Subject and Keywords:

mobile robots ; navigation ; simultaneous localization and mapping ; feature matching

Abstract:

This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM problem is introduced, and a solution based on the Extended Kalman Filter (EKF-SLAM) is shown. Important issues of convergence, consistency, observability, data association and scaling in EKF-SLAM are discussed from both theoretical and practical points of view. Major extensions to the basic EKF-SLAM method and some recent advances in SLAM are also presented.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2009

Resource Type:

artykuł

DOI:

10.2478/v10006-009-0045-z

Pages:

575-588

Source:

AMCS, volume 19, number 4 (2009) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego