ASME 07 Notes

Simutaneous Localization and Mapping (SLAM) :

This is a method of robotic exploration and navigation in unknown environments.

--Authors of Problem Statement:

(1) Smith and Cheeseman 1987, (2) Leonard et al. 1992b, (3) Thrun 2003, (4) Thrun et al. 2005.

--Solutions

For the "landmark-based" varient of SLAM, the "most popular methods are based o\ n the extended Kalman filter (EKF)"

"EKF recursively estimates a Gaussian density over the current pose of the robo\ t and the position of all landmarks (the map)"

--Authors of EKF

(1) Smith et al. 1987, 1990, (2) Moutarlier and Chatila 1989a, 1989b, (3) Ayache and Faugeras 1989, (4) Leonard and Durrant-Whyte 1992, (5) Leonard et al. 1992.