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Erschienen in:

01.09.2010 | Fachbeitrag

A SLAM Overview from a User’s Perspective

verfasst von: Udo Frese, René Wagner, Thomas Röfer

Erschienen in: KI - Künstliche Intelligenz | Ausgabe 3/2010

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Abstract

This paper gives a brief overview on the Simultaneous Localization and Mapping (SLAM) problem from the perspective of using SLAM for an application as opposed to the common view in SLAM research papers that focus on investigating SLAM itself.

We discuss different ways of using SLAM with increasing difficulty: for creating a map prior to operation, as a black-box localization system, and for providing a growing online map during operation.

We also discuss the common variants of SLAM based on 2-D evidence grids, 2-D pose graphs, 2-D features, 3-D visual features, and 3-D pose graphs together with their pros and cons for applications. We point to implementations available on the Internet and give advice on which approach suits which application from our experience.

Vorheriger Artikel Simultaneous Localization and Mapping – Gasteditorial

Nächster Artikel Lifelong Map Learning for Graph-based SLAM in Static Environments

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Titel: A SLAM Overview from a User’s Perspective
verfasst von: Udo Frese
René Wagner
Thomas Röfer
Publikationsdatum: 01.09.2010
Verlag: Springer-Verlag
Erschienen in: KI - Künstliche Intelligenz / Ausgabe 3/2010
Print ISSN: 0933-1875
Elektronische ISSN: 1610-1987
DOI: https://doi.org/10.1007/s13218-010-0040-4

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