Content deleted Content added
Line 101:
For 2D robots, the kinematics are usually given by a mixture of rotation and "move forward" commands, which are implemented with additional motor noise. Unfortunately the distribution formed by independent noise in angular and linear directions is non-Gaussian, but is often approximated by a Gaussian. An alternative approach is to ignore the kinematic term and read odometry data from robot wheels after each command—such data may then be treated as one of the sensors rather than as kinematics.
=== Moving objects ===
Non-static environments, such as those containing other vehicles or pedestrians, continue to present research challenges.<ref>{{Cite journal|last1=Perera|first1=Samunda|last2=Pasqual|first2=Ajith|date=2011|editor-last=Bebis|editor-first=George|editor2-last=Boyle|editor2-first=Richard|editor3-last=Parvin|editor3-first=Bahram|editor4-last=Koracin|editor4-first=Darko|editor5-last=Wang|editor5-first=Song|editor6-last=Kyungnam|editor6-first=Kim|editor7-last=Benes|editor7-first=Bedrich|editor8-last=Moreland|editor8-first=Kenneth|editor9-last=Borst|editor9-first=Christoph|title=Towards Realtime Handheld MonoSLAM in Dynamic Environments|journal=Advances in Visual Computing|volume=6938|series=Lecture Notes in Computer Science|language=en|publisher=Springer Berlin Heidelberg|pages=313–324|doi=10.1007/978-3-642-24028-7_29|isbn=9783642240287}}</ref><ref name=":1">{{Citation|last1=Perera|first1=Samunda|title=Exploration: Simultaneous Localization and Mapping (SLAM)|date=2014|work=Computer Vision: A Reference Guide|pages=268–275|editor-last=Ikeuchi|editor-first=Katsushi|publisher=Springer US|language=en|doi=10.1007/978-0-387-31439-6_280|isbn=9780387314396|last2=Barnes|first2=Dr.Nick|last3=Zelinsky|first3=Dr.Alexander|s2cid=34686200}}</ref> SLAM with DATMO is a model which tracks moving objects in a similar way to the agent itself.<ref name=Wang2007>{{cite journal
| |||