Simultaneous localization and mapping (SLAM)

Abstract

In chapter 4 the localization problem is introduced, which is the estimation of the position and orientation of the amr in its environment. It is shown that this problem can be solved with specific sensors or based on specific features of the environment. The selected features are those which could easily be detected by the robot sensor system. Additionally, chapter 5 describes different map generation techniques, for which a precise position and orientation of the robot is necessary.