A solution to the simultaneous localization and map building (SLAM) problem

@article{Dissanayake2001AST,
  title={A solution to the simultaneous localization and map building (SLAM) problem},
  author={Gamini Dissanayake and Paul Newman and Steve Clark and Hugh F. Durrant-Whyte and M. Csorba},
  journal={IEEE Trans. Robotics Autom.},
  year={2001},
  volume={17},
  pages={229-241}
}
The simultaneous localization and map building (SLAM) problem asks if it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of this environment while simultaneously using this map to compute absolute vehicle location. Starting from estimation-theoretic foundations of this problem, the paper proves that a solution to the SLAM problem is indeed possible. The underlying structure of the SLAM problem is first… 

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