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Proceedings Paper

Closed form solutions to the multiple-platform simultaneous localization and map building (SLAM) problem
Author(s): Eric W. Nettleton; Peter W. Gibbens; Hugh F. Durrant-Whyte
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Paper Abstract

This paper presents a closed form solution to the multiple platform simultaneous localization and map building (SLAM) problem. Closed form solutions are presented in both state space and information based forms. A key conclusion of this paper is that the information-state based form offers many advantages over the state space formulation in allowing the SLAM algorithm to be decentralized across multiple platforms.

Paper Details

Date Published: 3 April 2000
PDF: 10 pages
Proc. SPIE 4051, Sensor Fusion: Architectures, Algorithms, and Applications IV, (3 April 2000); doi: 10.1117/12.381658
Show Author Affiliations
Eric W. Nettleton, Univ. of Sydney (Australia)
Peter W. Gibbens, Univ. of Sydney (Australia)
Hugh F. Durrant-Whyte, Univ. of Sydney (Australia)


Published in SPIE Proceedings Vol. 4051:
Sensor Fusion: Architectures, Algorithms, and Applications IV
Belur V. Dasarathy, Editor(s)

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