Texture-Aware SLAM Using Stereo Imagery and Inertial Information
Simultaneous Localization And Mapping (SLAM) is one of the classic problems in robotics.
Its solution enables a robot to create a map of its surroundings and at the same time localize itself
within that map. One of the main reasons why SLAM is such a ubiquitus problem is that it enables
convenient specification of planning with waypoint control, and navigation in cartesian coordinates,
so that human operators can say goto(x,y,z, orientation). While this is not the only way
to perform navigation, it has been the main driving force behind the progress made in this area
over the last three decades. The other driving force behind SLAM has to do with the ability to build
3D maps of the environment in an online fashion and the ability to detect loop closures (detecting
already visited places).