Recent Advances on Simultaneous Localization and Mapping for Mobile Robots

摘要

This paper gives recent advances made in simultaneous localization and mapping (SLAM) in the last decade. It summarizes the main contributions, insights, limitations, and solutions of the most popular SLAMs. Some important approaches that cannot be included in the above classifications are also discussed, such as pedestrian SLAM, SLAM with enriched maps, multi-robot SLAM, active SLAM, and SLAM in dynamic environments.