Efficient Solutions to Autonomous Mapping and Navigation Problems
Stefan B. Williams
Broschiertes Buch

Efficient Solutions to Autonomous Mapping and Navigation Problems

An Investigation of the Simultaneous Localisation and Mapping problem and its Application to Underwater Systems

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This work deals with the Simultaneous Localisation and Mapping algorithm as it pertains to the deployment of mobile systems in unknown environments. Simultaneous Localisation and Mapping (SLAM) as defined here is the process of concurrently building up a map of the environment and using this map to obtain improved estimates of the location of the vehicle. In essence, the vehicle relies on its ability to extract useful navigation information from the data returned by its sensors. The vehicle typically starts at an unknown location with no a priori knowledge of landmark locations. From relative ...