12. 1986 December
“On the Representation and
Estimation of Spatial Uncertainty”
The International Journal of Robotics Research
Randall C. Smith
SRI International
1988 December
“Uncertain geometry in
robotics”
IEEE Journal on Robotics and Automation
H.F. Durrant-Whyte
Philadelphia Univercity
ランドマークを観測続けることで,正確な地図が
構築されていくことを確認した.
Peter Cheeseman
NASA Ames
14. 無限の計算で処理が収束することを証明した
1990
“Simultaneous map building
and localization for an
autonomous mobile robot”
Proceedings of the Second Conference on Uncertainty in
Artificial Intelligence
J.J. Leonard
SRI International
H.F. Durrant-Whyte
Philadelphia Univercity
19. “Directed Sonar Navigation.”
Kluwer Academic Press. 1992
J.J. Leonard
SRI International
H.F. Durrant-Whyte
Philadelphia Univercity
自己位置推定を超音波センサのみで行った
1992
21. “Localization of automatic
guided vehicles”
Robotics Research
The 7th International Symposium(ISRR’95)
D. RyeH.F. Durrant-Whyte
Philadelphia Univercity
SLAMが登場
E. Nebot
1995
22.
23.
24. BORによるアプローチ
1996
“A new approach to
simultaneous localization
and map building”
Proceedings of SPIE Aerosense, Orlando
M. Csorba
SRI International
H.F. Durrant-Whyte
Philadelphia Univercity
27. 車両で試験走行 拡張カルマンフィルタ
2001
“A solution to the
simultaneous localisation
and mapping (SLAM)
problem”
IEEE Trans. Robotics and Automation
S. Clark H.F. Durrant-Whyte
Philadelphia Univercity
G. Dissanayake P. Newman
28. FAST-SLAM
2002
“Fast-SLAM: A factored solution
to the simultaneous localization
and mapping problem”
Proc. AAAI 2002
M. Montererlo S. Thrun
D. Koller B. Wegbreit
29. 参考文献
• OpenSLAM
• Association for Uncertainty in Artificial Intelligence
• The International Journal of Robotics Research
• Simultaneous Localization and Mapping (SLAM): Part I The
Essential Algorithms
• THE IEEE ROBOTICS AND AUTOMATION SOCIETY HISTORY
• 各種論文