Robust sensor fusion for mapping and localization in a simultaneous localization and mapping (SLAM) system

摘要

This invention is generally related to methods and apparatus that permit the measurements from a plurality of sensors to be combined or fused in a robust manner. For example, the sensors can correspond to sensors used by a mobile, device, such as a robot, for localization and/or mapping. The measurements can be fused for estimation of a measurement, such as an estimation of a pose of a robot.