Simultaneaous localization and mapping: Exactly sparse information filters (New frontiers in robotics, Vol. 3)

Simultaneous localization and mapping (SLAM) is a process where an autonomous vehicle builds a map of an unknown environment while concurrently generating an estimate for its location. This book is concerned with computationally efficient solutions to the large scale SLAM problems using exactly sparse Extended Information Filters (EIF). The invaluable book also provides a comprehensive theoretical analysis of the properties of the information matrix in EIF-based algorithms for SLAM. Three exactly sparse information filters for SLAM are described in detail, together with two efficient and exact methods for recovering the state vector and the covariance matrix. Proposed algorithms are extensively evaluated both in simulation and through experiments.

Introduction. Sparse Information Filters in SLAM. Decoupling Localization and Mapping. D-SLAM Local Map Joining Filter. Sparse Local Submap Joining Filter.