Simultaneous Localization and Mapping with Sparse Extended Information Filters

Sebastian Thrun, Yufeng Liu, Daphne Koller, Andrew Y. Ng, Zoubin Ghahramani, Hugh F. Durrant-Whyte

Abstract: In this paper we describe a scalable algorithm for the simultaneous mapping and localization (SLAM) problem. SLAM is the problem of acquiring a map of a static environment with a mobile robot. The ...