A Bayesian Algorithm for Simultaneous Localisation and Map Building

Hugh F. Durrant-Whyte, Somajyoti Majumder, Sebastian Thrun, Marc De Battista, Steve Scheding

Abstract: This paper describes a full probabilistic solution to the Simultaneous Localisation and Mapping (SLAM) problem. Previously, the SLAM problem could only be solved in real time through the use of the Kalman Filter. This generally restricts the application of SLAM methods to domains with straight-forward (analytic) environment and sensor models. In this paper the Sum-of-Gaussian (SOG) method is used to approximate more general (arbitrary) probability distributions. This representation permits the generalizations made possible by particle filter or Monte-Carlo methods, while inheriting the real-time computational advantages of the Kalman filter. The method is demonstrated by its application to sub-sea field data consisting of both sonar and visual observation of near-field landmarks.