D-SLAM: Decoupled Localization and Mapping for Autonomous Robots

@inproceedings{Wang2005DSLAMDL,
  title={D-SLAM: Decoupled Localization and Mapping for Autonomous Robots},
  author={Zhan Wang and Shoudong Huang and Gamini Dissanayake},
  booktitle={ISRR},
  year={2005}
}
The main contribution of this paper is the reformulation of the simultaneous localization and mapping (SLAM) problem for mobile robots such that the mapping and localization can be treated as two concurrent yet separated processes: D-SLAM (decoupled SLAM). It is shown that SLAM can be decoupled into solving a non-linear static estimation problem for mapping and a low-dimensional dynamic estimation problem for localization. The mapping problem can be solved using an Extended Information Filter… CONTINUE READING
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