The Simultaneous Localisation and Mapping (SLAM) problem asks if it is possible for a mobile robot to be placed at an unknown location in an unknown environment and for the robot to incrementally build a consistent map of this environment while simultaneously determining its lo- cation within this map. A solution to the SLAM problem has been seen as a `holy grail for the mobile robotics com- munity as it would provide the means to make a robot truly autonomous.

slam for dumies.pdf

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