(d)
Statement 1: SLAM forms the backbone of mobile robotics, as it is a prerequisite for higherlevel tasks such as path planning and navigation.
Statement 1 is Correct.
SLAM enables a robot to build a map of an unknown environment while simultaneously keeping track of its own location. This is essential for navigation, path planning, and autonomous decision-making in mobile robotics.
Statement 2: SLAM has received a lot of attention in the robotics community, and many algorithms that address different aspects of the problem have been proposed over the years.
Statement 2 is Correct. SLAM is a highly active research area with a wide range of proposed algorithms like EKF-SLAM, FastSLAM, Graphbased SLAM, ORB-SLAM, and more, targeting different challenges (sensor noise, scalability, real-time performance, etc.).
Statement 3: The architecture of a SLAM algorithm can be divided into two main parts -the front-end and the back-end.
Statement 3 is Correct. This is a widely accepted design:
- Front-end: Responsible for data association, feature extraction, sensor processing.
- Back-end: Handles optimization, typically using techniques like graph optimization or least squares to refine the pose estimates and map.