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《Control & Automation》 2005-03
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SLAM Problem of Mobile Robots in Unknown Environment

He,Wei Liang,Ximing (School of Information Science and Engineering, Central South University, Changsha, 410083)  
Localization and map building of mobile robots is a fundamental and important problem in research on robotics. This paper surveyed the latest progress, specially on the simultaneous localization and map building (SLAM) in unknown environment. Some key techniques are analyzed in detail, such as map representation, localization and environment feature-extraction, description and process of uncertain information. At the same time, some typical research methods are introduced. Existing problems, further research and the development trends are also discussed.
【Fund】: 国家自然科学基金重点项目(60234030)
【CateGory Index】: TP24
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