Simultaneous localization and mapping: issues and approaches

摘要

Nowadays, with technological advances in the science of robotics, We've seen building the robots to work autonomously in other planets, under seas and oceans and each unknown environments. Considering that the robots do not have any information about the environment, should have the ability to build environment map on the move and also estimate its location on that map correctly. This action is called Simultaneous Localization and Mapping (SLAM). Mapping is to obtain a model of the robot environment, and localization is to estimate the position of robot in obtained map. For building map, we need to acknowledge about location of robot and for localization we need to map (chicken and egg problem), so the SLAM is a hard and famous problem in robotic word. In this study, we will explain related issues and parameters that are necessary for investigate and work on the SLAM problem.