A review of simultaneous localization and map building algorithms for mobile robots in unknown environment

摘要

Simultaneous localization and mapping (SLAM) algorithm for mobile robots is a key problem in the field of robotics. The latest progress of SLAM algorithms is surveyed, and the key techniques adopted. Various existing methods were analyzed and compared in details of map-building model, computation complexity, robustness and so on. Finally, the key problems and future research trend of SLAM approaches are presented.