• SEMINAR
  • Speaker: Dr Roger Stuckey, DSTO
  • Title: An Introduction to Simultaneous Localisation and Mapping
  • Location: Room V109, Mathematics Building (Callaghan Campus) The University of Newcastle
  • Time and Date: 11:15 am, Thu, 12th Apr 2012
  • Abstract:

    Simultaneous Localisation and Mapping (SLAM) has become prominent in the field of robotics over the last decade, particularly in application to autonomous systems. SLAM enables any system equipped with exteroceptive (and often inertial) sensors to simultaneously update its own positional estimate and map of the environment by utilising information collected from the surroundings. The solution to the probabilistic SLAM problem can be derived using Bayes Theorem to yield estimates of the system state and covariance. In recursive form, the basic prediction-correction algorithm employs an Extended Kalman Filter (EKF) with Cholesky decomposition for numerical stability during inversion. This talk will present the mathematical formulation and solution of the SLAM problem, along with some algorithms used in implementation. We will then look at some applications of SLAM in the real world and discuss some of the challenges for future development.


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