Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/107554
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Type: | Journal article |
Title: | Past, present, and future of simultaneous localization and mapping: toward the robust-perception age |
Author: | Cadena, C. Carlone, L. Carrillo, H. Latif, Y. Scaramuzza, D. Neira, J. Reid, I. Leonard, J. |
Citation: | IEEE Transactions on Robotics, 2016; 32(6):1309-1332 |
Publisher: | Institute of Electrical and Electronics Engineers |
Issue Date: | 2016 |
ISSN: | 1552-3098 1941-0468 |
Statement of Responsibility: | Cesar Cadena, Luca Carlone, Henry Carrillo |
Abstract: | 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. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications and witnessing a steady transition of this technology to industry. We survey the current state of SLAM and consider future directions. We start by presenting what is now the de-facto standard formulation for SLAM. 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 and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved? |
Keywords: | Graph theory; simultaneous location and mapping; service robots; robustness; localization |
Rights: | Copyright © 2016, IEEE |
DOI: | 10.1109/TRO.2016.2624754 |
Grant ID: | ARC DP130104413 CE140100016 FL130100102 609763 EU-H2020-688652 SERI-15.0284 |
Published version: | http://dx.doi.org/10.1109/tro.2016.2624754 |
Appears in Collections: | Aurora harvest 3 Electrical and Electronic Engineering publications |
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RA_hdl_107554.pdf | Restricted Access | 796.23 kB | Adobe PDF | View/Open |
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