This tutorial provides an introduction to the Simultaneous Localisation and Mapping (SLAM) method and the extensive research on SLAM that has been undertaken. Part I of this tutorial described the essential SLAM problem. Part II of this tutorial (this paper) is concerned with recent advances in computational methods and in new formulations of the SLAM problem for large scale and complex

This tutorial provides an introduction to the Simultaneous Localisation and Mapping (SLAM) method and the extensive research on SLAM that has been undertaken. Part I of this tutorial described the essential SLAM problem. Part II of this tutorial (this paper) is concerned with recent advances in computational methods and in new formulations of the SLAM problem for large scale and complex

In this report is presented a work plan towards a PhD thesis on the Simultaneous Localization And Mapping problem. In the first part, an analysis of the problem is presented, followed by a survey of the state of the art. After pointing out some open issues, a research plan is then sketched.

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In this report we present our work plan in the development of a PhD thesis on Simultaneous Localization and Mapping for unstructured environments. In the first part of this document we introduce the problem, then we present the basic tools for Bayesian state estimation, and give a summary of the state of the art in the field. In the second part we present our work plan, together with our recent...

We report experimental results with bearings-only and range-only Simultaneous Localization and Mapping (SLAM). In the former case, we give the initial results from a new method that extends optimal shape-from-motion to incorporate angular rate and linear acceleration data. In the latter case, we have formulated a version of the SLAM problem that presumes a moving sensor able to measure only ran...

Inspired by ant navigation, we explore a method for sky segmentation using ultraviolet (UV) light. A standard camera is adapted to allow collection of outdoor images containing light in the visible range, in UV only and in green only. Automatic segmentation of the sky region using UV only is significantly more accurate and far more consistent than visible wavelengths over a wide range of locati...