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

  title={Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age},
  author={C. Cadena and L. Carlone and H. Carrillo and Y. Latif and D. Scaramuzza and Jos{\'e} Neira and I. Reid and J. Leonard},
  journal={IEEE Transactions on Robotics},
  • C. 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 Abstract
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