2. Main algorithms for SLAM

2.1 Mapping difficulties

The main difficulty in cartography is to be able to integrate new elements into a map under construction with the most accurate position possible. To achieve this, there are three main categories of methods, which we will describe in greater detail later in this section.

A first set of methods allows us to estimate the position of these new elements in relation to previously acquired elements, by correlating measurements. These methods assume that perceptions are sufficiently close to each other that they have elements in common, enabling them to be aligned with each other. Their results depend solely on perceptions, and they can therefore do without proprioceptive data, even if such data is sometimes useful for initializing the algorithm....