Header

UZH-Logo

Maintenance Infos

Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age


Cadena, Cesar; Carlone, Luca; Carrillo, Henry; Latif, Yasir; Scaramuzza, Davide; Neira, Jose; Reid, Ian; Leonard, John (2016). Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age. IEEE Transactions on Robotics, 32(6):1309-1332.

Abstract

Simultaneous localization and mapping (SLAM) consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications and witnessing a steady transition of this technology to industry. We survey the current state of SLAM and consider future directions. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved?

Abstract

Simultaneous localization and mapping (SLAM) consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications and witnessing a steady transition of this technology to industry. We survey the current state of SLAM and consider future directions. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved?

Statistics

Citations

Dimensions.ai Metrics
78 citations in Web of Science®
116 citations in Scopus®
229 citations in Microsoft Academic
Google Scholar™

Altmetrics

Downloads

222 downloads since deposited on 22 Aug 2017
219 downloads since 12 months
Detailed statistics

Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:23 November 2016
Deposited On:22 Aug 2017 09:04
Last Modified:19 Aug 2018 09:57
Publisher:Institute of Electrical and Electronics Engineers
ISSN:1552-3098
Additional Information:© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
OA Status:Green
Free access at:Publisher DOI. An embargo period may apply.
Publisher DOI:https://doi.org/10.1109/tro.2016.2624754
Official URL:https://arxiv.org/pdf/1606.05830
Related URLs:http://rpg.ifi.uzh.ch/publications.html (Author)
Other Identification Number:merlin-id:14064
Project Information:
  • : FunderFP7
  • : Grant ID266018
  • : Project TitleANIMALCHANGE - AN Integration of Mitigation and Adaptation options for sustainable Livestock production under climate CHANGE
  • : FunderFP7
  • : Grant ID609763
  • : Project TitleTRADR - Long-Term Human-Robot Teaming for Robot-Assisted Disaster Response

Download

Download PDF  'Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age'.
Preview
Content: Accepted Version
Language: English
Filetype: PDF
Size: 3MB
View at publisher