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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