{"refrec":{"BRefID":294945,"RR":"<b>Stachniss, C.; Leonard, J.J.; Thrun, S.</b> (2016). Simultaneous localization and mapping, <b><i>in</i></b>: Siciliano, B. <i>et al.</i> <i>Springer handbook of robotics.</i> pp. 1153-1176. <a href=\"https://dx.doi.org/10.1007/978-3-319-32552-1_46\" target=\"_blank\">https://dx.doi.org/10.1007/978-3-319-32552-1_46</a>","BEntID":287016,"PublicFlag":1,"CheckedFlag":0,"wosflag":null,"vabbflag":null,"RefStringPartII":", <b><i>in</i></b>: Siciliano, B. <i>et al.</i> <i>Springer handbook of robotics.</i> pp. 1153-1176. <a href=\"https://dx.doi.org/10.1007/978-3-319-32552-1_46\" target=\"_blank\">https://dx.doi.org/10.1007/978-3-319-32552-1_46</a>","DocTypID":17,"DocType":"Book chapters","MarineFlag":0,"FreshFlag":0,"BrackishFlag":0,"TerrestrialFlag":0,"Authorstring":"Stachniss, C.; Leonard, J.J.; Thrun, S.","OrigTitleTranslFlag":0,"Authorstringtrunc":"Stachniss, C. <i>et al.</i>","Englishabstract":"This chapter provides a comprehensive introduction in to the simultaneous localization and mapping problem, better known in its abbreviated form as SLAM. SLAM addresses the main perception problem of a robot navigating an unknown environment. While navigating the environment, the robot seeks to acquire a map thereof, and at the same time it wishes to localize itself using its map. The use of SLAM problems can be motivated in two different ways: one might be interested in detailed environment models, or one might seek to maintain an accurate sense of a mobile robot’s location. SLAM serves both of these purposes. We review the three major paradigms from which many published methods for SLAM are derived: (1) the extended Kalman filter (EKF); (2) particle filtering; and (3) graph optimization. We also review recent work in three-dimensional (3-D ) SLAM using visual and red green blue distance-sensors (RGB-D), and close with a discussion of open research problems in robotic mapping.","AbstractOtherLang":null,"BibLvlCode":"AM","StandardTitle":"Simultaneous localization and mapping","OrigTitleLangCode":"en","OrigTitleLangCodeExtended":"eng","OrigTitleLangID":15,"DateLastModified":{"date":"2024-12-10 01:33:17.368041","timezone_type":1,"timezone":"+01:00"},"UserAccessRight":null,"UserAccID":null,"AuthorKeywords":null,"OtherDescriptors":null,"Notes":null,"AnaPub":2016,"MonPub":null,"DateUpdate":"2018-04-24","DateCreate":"2018-04-24","SecASFANote":null,"ConfID":null,"PeerRev":0,"VlizCoreFlag":1,"WoScode":null,"VABBcode":null,"OpenAcc":0,"DOI":"10.1007/978-3-319-32552-1_46"},"refs":null,"anarec":{"AnaID":294945,"PubliDate":2016,"Pagination":"1153-1176","XtraPublOfAnaID":null,"ISBN":"978-3-319-32550-7","Volume":null,"Issue":null,"BRefMon":294900,"BRefMonRR":"<b>Siciliano, B.; Khatib, O. (Ed.)</b> (2016). Springer handbook of robotics. Second edition. Springer Verlag: Berlin. ISBN 978-3-319-32550-7; e-ISBN 978-3-319-32552-1. LXXVI, 2227 pp. <a href=\"https://dx.doi.org/10.1007/978-3-319-32552-1\" target=\"_blank\">https://dx.doi.org/10.1007/978-3-319-32552-1</a>","BRefXtra":null,"BRefXtraRR":null,"SerBRefID":null,"SerRR":null,"StandardTitleSer":null,"ISSN":null,"AbbrevSer":null,"StandardTitleMon":"Springer handbook of robotics","StartPage":1153,"Pages":24,"ToPubliDate":null,"BRefBibLvlCode":"M","SerNotes":null,"AutString":"Siciliano, B.; Khatib, O. 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