A Tutorial on Graph-Based SLAM

  title={A Tutorial on Graph-Based SLAM},
  author={Giorgio Grisetti and Rainer K{\"u}mmerle and Cyrill Stachniss and Wolfram Burgard},
  journal={IEEE Intelligent Transportation Systems Magazine},
Being able to build a map of the environment and to simultaneously localize within this map is an essential skill for mobile robots navigating in unknown environments in absence of external referencing systems such as GPS. This so-called simultaneous localization and mapping (SLAM) problem has been one of the most popular research topics in mobile robotics for the last two decades and efficient approaches for solving this task have been proposed. One intuitive way of formulating SLAM is to use… CONTINUE READING
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