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={C{\'e}sar Cadena and Luca Carlone and Henry Carrillo and Yasir Latif and Davide Scaramuzza and Jos{\'e} Neira and Ian D. Reid and John J. Leonard},
  journal={IEEE Transactions on Robotics},
  year={2016},
  volume={32},
  pages={1309-1332}
}
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…

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