# 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…

## 2,894 Citations

### Map Management for Efficient Simultaneous Localization and Mapping (SLAM)

- Computer ScienceAuton. Robots
- 2002

The paper shows that it is indeed possible to remove a large percentage of the landmarks from the map without making the map building process statistically inconsistent, and the computational cost of the SLAM algorithm can be reduced by judicious selection of landmarks to be preserved in the map.

### On the Structure and Solution of the Simultaneous Localisation and Map Building Problem

- Computer Science
- 1999

This thesis shows that the GPF can be used as the basis of a substantive real time deployment of a mobile robot in an initially unknown environment and proves that the uncertainty in the estimated map decreases monotonically and achieves a defined lower bound.

### A New Solution to the Simultaneous Localisation and Map Building (SLAM) Problem

- Engineering
- 2005

The proposition posed by the problem of simultaneous localisation and map building (SLAM) is whether a mobile robot can be placed in an unknown environment and then incrementally build a map of this…

### Stochastic State Estimation for Simultaneous Localization and Map Building in Mobile Robotics

- Mathematics
- 2005

The study of stochastic models for Simultaneous Localization and Map Building (SLAM) in mobile robotics has been an active research topic for over fifteen years. Within the Kalman filter (KF)…

### Unmanned autonomous vehicle control & SLAM problem in 2-D environment

- Computer Science8th International Multitopic Conference, 2004. Proceedings of INMIC 2004.
- 2004

It is proved that a solution to the SLAM problem is indeed possible for 2D obstacle map and how key issues such as, map management and data association can be handled in a practical environment is demonstrated.

### FIELD DEPLOYMENT OF THE SIMULTANEOUS LOCALISATION AND MAPPING ALGORITHM

- Computer Science
- 2002

This paper presents results of deployment of the algorithm undertaken at the Australian Centre for Field Robotics in a variety of field applications, using a high speed land vehicle travelling in a park and on a submersible vehicle.

### FISST-SLAM: Finite Set Statistical Approach to Simultaneous Localization and Mapping

- Computer ScienceInt. J. Robotics Res.
- 2010

This paper proposes an alternative framework based on finite set statistics (FISST), where the SLAM problem is reformulated so that the landmark map and the measurements are represented using random finite sets and the landmarks map is jointly estimated with the vehicle state vector, whilst explicitly accounting for measurement detection uncertainty, data-association uncertainty, false alarms and map management in theSLAM filter framework.

### The Simultaneous Localization and Mapping problem in a nonlinear parameter identifiability perspective

- Mathematics2010 8th World Congress on Intelligent Control and Automation
- 2010

A feasible solution to the Simultaneous Localization and Mapping (SLAM) problem is often considered invaluable in many autonomous vehicle navigation applications. In this paper we show that SLAM…

### Simultaneous Localisation And Mapping with Monocular Vision

- Computer Science
- 2006

This thesis tackles the Simultaneous Localisation And Mapping problem (SLAM), and the focus is put on artificial vision as the main perception mean for the robot: the map and the robot location can be estimated in the full 3D space.

### Simultaneous localisation and mapping with prior information

- Computer Science, Mathematics
- 2011

This thesis is concerned with Simultaneous Localisation and Mapping (SLAM), a technique by which a platform can estimate its trajectory with greater accuracy than odometry alone, especially when the trajectory incorporates loops, and develops a novel method called the Dual Representation, which allows to use information from the prior map to not only improve the SLAM estimate, but also reduce the severity of errors associated with the EKF.

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