<abstract xml:lang="en" xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

Simultaneous localization and mapping: A feature-based probabilistic approach

Institute of Control and Information Engineering, Poznań University of Technology, ul. Piotrowo 3A, 60-965, Poznań, Poland

International Journal of Applied Mathematics and Computer Science

{"article-title":"Simultaneous localization and mapping: A feature-based probabilistic approach"}

This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based...

Simultaneous localization and mapping: A feature-based probabilistic approach

Published Online: Dec 31, 2009

Page range: 575 - 588

DOI: https://doi.org/10.2478/v10006-009-0045-z

Keywords
mobile robot, navigation, simultaneous localization and mapping, feature matching

This content is open access.

Simultaneous localization and mapping: A feature-based probabilistic approach

Published Online: Dec 31, 2009

Page range: 575 - 588

DOI: https://doi.org/10.2478/v10006-009-0045-z

Keywordsmobile robot, navigation, simultaneous localization and mapping, feature matching

This content is open access.

Keywords
mobile robot, navigation, simultaneous localization and mapping, feature matching