The SLAM problem: a survey

Authors:
Josep Aulinas;Yvan Petillot;Joaquim Salvi;Xavier Lladó
Affiliations:
Institute of Informatics and Applications, University of Girona, Girona (Spain);Ocean Systems Lab, Heriot-Watt University, Edinburgh (UK);Institute of Informatics and Applications, University of Girona, Girona (Spain);Institute of Informatics and Applications, University of Girona, Girona (Spain)
Venue:
Proceedings of the 2008 conference on Artificial Intelligence Research and Development: Proceedings of the 11th International Conference of the Catalan Association for Artificial Intelligence
Year:
2008

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Abstract

This paper surveys the most recent published techniques in the field of Simultaneous Localization and Mapping (SLAM). In particular it is focused on the existing techniques available to speed up the process, with the purpose to handel large scale scenarios. The main research field we plan to investigate is the filtering algorithms as a way of reducing the amount of data. It seems that almost all the current approaches can not perform consistent maps for large areas, mainly due to the increase of the computational cost and due to the uncertainties that become prohibitive when the scenario becomes larger.