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  • Simultaneous Localization and Mapping: Dr. T.-J. Yeh

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    Simultaneous Localization and Mapping (SLAM) is the process of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. The document discusses two approaches to SLAM - online SLAM which incrementally builds a map based on recent sensor measurements, and full SLAM which uses all measurements to build a globally consistent map. It also describes using an Extended Kalman Filter for SLAM which represents the robot and landmark states as a joint multivariable Gaussian distribution.

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    Simultaneous Localization and Mapping (SLAM) is the process of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. The document discusses two approaches to SLAM - online SLAM which incrementally builds a map based on recent sensor measurements, and full SLAM which uses all measurements to build a globally consistent map. It also describes using an Extended Kalman Filter for SLAM which represents the robot and landmark states as a joint multivariable Gaussian distribution.

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    © All Rights Reserved
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    21 views21 pages

    Simultaneous Localization and Mapping: Dr. T.-J. Yeh

    Uploaded by

    CHW
    Simultaneous Localization and Mapping (SLAM) is the process of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. The document discusses two approaches to SLAM - online SLAM which incrementally builds a map based on recent sensor measurements, and full SLAM which uses all measurements to build a globally consistent map. It also describes using an Extended Kalman Filter for SLAM which represents the robot and landmark states as a joint multivariable Gaussian distribution.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pptx, pdf, or txt
    of 21

    Simultaneous Localization and

    Mapping

    Dr. T.-J. Yeh


    Introduction
    On-line SLAM

    Full SLAM
    On-line SLAM Posterior

    Full SLAM Posterior


    SLAM with Extended Kalman Filter
    The measurement model
    Summary

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