【論文學習】On the representation and estimation of spatial uncertainty
Randall C. Smith與Peter Chessman，發表於1987年，這篇文章被認爲是最早提出SLAM問題的一篇文章。 1. 文章核心思想 當機器人從初始位置進行多次移動時，每次移動對應一個不確定的近似變換（approximate transformation, AT），每次移動後由於不確定性的累加導致不確定性越來越大。文章提出用兩個步驟進行精準地估計位置：複合（Compounding
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