Question

read the short scientific paper entitled “Simultaneous Localisation and Mapping pdf (SLAM)

1. Then write a short summary that answers the prompts below.
   1. Briefly introduce the history of probabilistic SLAM problem from the year 1986. List some typical researchers and their works.

2. What year is the first SLAM session held?

3. Briefly introduce observation model and motion model, respectively.

4. What is the difference between EKF-SLAM and Fast-SLAM?

2.5 If you use an open source SLAM software, which software you will select? Present your reasons.

Answer 1

as per HomeworkLib policy,i have answered 4 off 5 sub questions.remaining answer will upload by refering more subjectsby sending it supertely.

Ansuwes Given data SLAM Wa S introduced in The IEEE ROBOTICS AND The AUTOMATION CONFERENCE, SAN PRA NI CISCo , 986 Some of the reasearches fncluded Ch eeseman who researched On The peter estmation of Th e spatial uncertainty R. C Smitm and mepresentation and Hugn Durrant -whyte who Pound tRat sowtion tothe SLAM exists ina mobile sobotic survey Poper a-& t coaa pirst pres emt ed . 3 bserVation Model 6- tdescrebes the probabili+y of pCzk)km) descr bed as maning henetRe motat lons an observation an d. Polloos means Prom The vehicu at time k obsesvation taken An Stat e vect81 describ'ng The The occt on and the O0iertati on MOTION MODEL 8 Pt is descnbedinterms Df probabil+ distribution as p(xk1k -1,uK) heoe uK denotes The Contrd of tKe vechil vect81, apptt ed at time k-1 drive tha vehicl to astate to CK at time K -SLAM CAST-SLAM Dt desesib-es tut Vehi c motion fo 40Theform pCxo iR, mIzI:K, Uk , x0) t descobes -TRe vechict motion inIhe form jukk=> fxk-1jak)4 PC kok Pem xo k, zI : k ) PCX0: kz1: K, ssues wvere- The Key Computationat eppoo t, Conver gence Data assosiati ons, indepen Thekey dent Landmark. ISSue nas The ineanlty.