• DOI:10.1109/TRO.2016.2624754
Corpus ID: 2596787

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age

@article{Cadena2016PastPA,
  title={Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age},
  author={Cesar Cadena and L. Carlone and Henry Carrillo and Y. Latif and D. Scaramuzza and Jos{\'e} Neira and I. Reid and J. Leonard},
  journal={IEEE Transactions on Robotics},
  year={2016},
  volume={32},
  pages={1309-1332}
}

• Cesar Cadena, L. Carlone, +5 authors J. Leonard
• Published 2016
• Computer Science
• IEEE Transactions on Robotics

Simultaneous localization and mapping (SLAM) consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. [...] Key Method We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper…Expand