Combining Object Recognition and SLAM for Extended Map Representations

Fabio T. Ramos, Juan I. Nieto, Hugh F. Durrant-Whyte

Abstract: Building a map while navigating in an unknown environment is a major problem in robotics. The robot has to incrementally build a map of the environment, while concurrently using this map to localise itself. As the number of landmarks increases the problem becomes more complex and expensive to compute - the complexity is quadratic in the number of landmarks. Various approaches have tackled the complexity problem [11,4,15,21,3], however two challenging issues remain in SLAM: reliable data association and operation in dynamic environments.