Approach of simultaneous localization and mapping based on local maps for robot

来源期刊：中南大学学报(英文版)2006年第6期

论文作者：陈白帆 蔡自兴 胡德文

文章页码：713 - 716

Key words：simultaneous localization and mapping;extended Kalman filter;local map

Abstract: An extended Kalman filter approach of simultaneous localization and mapping(SLAM)was proposed based on local maps.A local frame of reference was established periodically at the position of the robot,and then the observations of the robot and landmarks were fused into the global frame of reference.Because of the independence of the local map,the approach does not cumulate the estimate and calculation errors which are produced by SLAM using Kalman filter directly.At the same time,it reduces the computational complexity.This method is proven correct and feasible in simulation experiments.