FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem.
Michael MontemerloSebastian ThrunDaphne KollerBen WegbreitPublished in: AAAI/IAAI (2002)
Keyphrases
- simultaneous localization and mapping
- mobile robot
- information filter
- dynamic environments
- kalman filter
- visual slam
- indoor environments
- mobile robotics
- particle filter
- data association
- extended kalman filter
- loop closing
- detection and tracking of moving objects
- robot navigation
- visual odometry
- outdoor environments
- state space
- optimal solution