Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age
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 applic...
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| Formatua: | Artikulua |
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Institute of Electrical and Electronics Engineers (IEEE)
2017
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| Sarrera elektronikoa: | http://hdl.handle.net/1721.1/107697 https://orcid.org/0000-0003-1884-5397 https://orcid.org/0000-0002-8863-6550 |
| _version_ | 1826214263199367168 |
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| author | Cadena, Cesar Carrillo, Henry Latif, Yasir Scaramuzza, Davide Neira, Jose Reid, Ian Carlone, Luca Leonard, John J |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Cadena, Cesar Carrillo, Henry Latif, Yasir Scaramuzza, Davide Neira, Jose Reid, Ian Carlone, Luca Leonard, John J |
| author_sort | Cadena, Cesar |
| collection | MIT |
| description | 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? |
| first_indexed | 2024-09-23T16:02:50Z |
| format | Article |
| id | mit-1721.1/107697 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:02:50Z |
| publishDate | 2017 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1076972022-09-29T17:52:12Z Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age Cadena, Cesar Carrillo, Henry Latif, Yasir Scaramuzza, Davide Neira, Jose Reid, Ian Carlone, Luca Leonard, John J Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Carlone, Luca Leonard, John J 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? Spain. Ministerio de Economía y Competitividad (Grant DPI2015-68905-P and Grupo DGA T04-FSE) Australian Research Council (Grants DP130104413, CE140100016 and FL130100102) National Centre of Competence in Research Robotics Seventh Framework Programme (European Commission) (EU-FP7-ICTProject TRADR 609763, EU-H2020-688652 and SERI-15.0284) 2017-03-24T19:04:01Z 2017-03-24T19:04:01Z 2016-12 Article http://purl.org/eprint/type/JournalArticle 1552-3098 1941-0468 http://hdl.handle.net/1721.1/107697 Cadena, Cesar et al. “Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age.” IEEE Transactions on Robotics 32.6 (2016): 1309–1332. https://orcid.org/0000-0003-1884-5397 https://orcid.org/0000-0002-8863-6550 en_US http://dx.doi.org/10.1109/TRO.2016.2624754 IEEE Transactions on Robotics Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) arXiv |
| spellingShingle | Cadena, Cesar Carrillo, Henry Latif, Yasir Scaramuzza, Davide Neira, Jose Reid, Ian Carlone, Luca Leonard, John J Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age |
| title | Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age |
| title_full | Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age |
| title_fullStr | Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age |
| title_full_unstemmed | Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age |
| title_short | Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age |
| title_sort | past present and future of simultaneous localization and mapping toward the robust perception age |
| url | http://hdl.handle.net/1721.1/107697 https://orcid.org/0000-0003-1884-5397 https://orcid.org/0000-0002-8863-6550 |
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