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      Permanent link:
      https://www.ias.ac.in/article/fulltext/sadh/040/05/1385-1433

    • Keywords

       

      SLAM, graph-based SLAM; metrical SLAM; topological SLAM; hybrid SLAM; dynamic SLAM.

    • Abstract

       

      This paper presents a survey of Simultaneous Localization And Mapping (SLAM) algorithms for unmanned ground robots. SLAM is the process of creating a map of the environment, sometimes unknown a priori, while at the same time localizing the robot in the same map. The map could be one of different types i.e. metrical, topological, hybrid or semantic. In this paper, the classification of algorithms is done in three classes: (i) Metric map generating approaches, (ii) Qualitative map generating approaches, and (iii) Hybrid map generating approaches. SLAM algorithms for both static and dynamic environments have been surveyed. The algorithms in each class are further divided based on the techniques used. The survey in this paper presents the current state-of-the-art methods, including important landmark works reported in the literature.

    • Author Affiliations

       

      Nitin Kumar Dhiman1 Dipti Deodhare1 Deepak Khemani2

      1. Centre for AI & Robotics, Bangalore 560093, India
      2. Department of Computer Science and Engineering, Indian Institute of Technology Madras, Chennai 600036, India
    • Dates

       

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