SLAM
Simultaneous localization and mapping estimates a robot’s pose while building a map of its environment. This chapter also covers the state-estimation concepts needed to interpret and use those estimates.
Topics include:
- Wheel odometry, inertial sensing, and sensor fusion.
- Coordinate frames, pose uncertainty, and drift.
- LiDAR and visual SLAM, map representations, and loop closure.
- Localization in an existing map and its role in navigation.
The Navigation chapter builds on these pose estimates and maps to move the robot toward a goal.