The Progress of Simultaneous Localization and Mapping for Mobile Robot

摘要

This paper surveys the latest progress of simultaneous localization and mapping (SLAM). After pointing out the problems that are main stumbling blocks in the development of SLAM,the fundamental method for SLAM is introduced and the properties of the improved algorithms are compared,specially the key techniques to reduce computational burden and improve the robustness are discussed in detail. Multi-robot cooperative simultaneous localization and mapping is also introduced. And the further research and development directions are discussed.