Journal
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
Volume 13, Issue -, Pages -Publisher
SAGE PUBLICATIONS INC
DOI: 10.1177/1729881416669482
Keywords
Consistency; convergence; extended Kalman filter; graph; least squares; observability; optimization; SLAM; sparsity
Categories
Funding
- Australian Research Council Discovery Project [DP120102786]
Ask authors/readers for more resources
The number of research publications dealing with the simultaneous localization and mapping problem has grown significantly over the past 15 years. Many fundamental and practical aspects of simultaneous localization and mapping have been addressed, and some efficient algorithms and practical solutions have been demonstrated. The aim of this paper is to provide a critical review of current theoretical understanding of the fundamental properties of the SLAM problem, such as observability, convergence, achievable accuracy and consistency. Recent research outcomes associated with these topics are briefly discussed together with potential future research directions.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available