Knowledge base: Warsaw University of Technology

Settings and your account


Simultaneous localization and mapping

Arman Omrani


Day by day robots play a bigger role in humankind’s life. Industrial robots are already widely used in factories and industrial projects. Different mechanical designs and controlling methods have been invented and implemented. On the other hand mobile robots are not as popular as industrial robots. Usage of mobile robots is mostly limited to scientific and research fields. The biggest obstacle in using mobile robots is navigating them in environment. Industrial robots are fixed at one point whereas mobile robots can move freely in 2D or 3D space, therefore it is necessary to know the location of the robot respect to the operating environment. A robot needs to know its location at each moment and the map of environment to be capable of traveling from point A to point B on an optimal path or operate in environment. The problem of modelling the environment and localizing at the same time is called Simultaneous Localization and Mapping or SLAM in robotic community. The robotic research community all over the world has been working on developing new approaches to solve the problem of Simultaneous Localization and Mapping during past two decades. This thesis presents an example of implementation of SLAM in real world.
Record ID
Diploma type
Master of Science
Arman Omrani (FPAE) Arman Omrani,, Faculty of Power and Aeronautical Engineering (FPAE)
Andrzej Masłowski (FM/IACR) Andrzej Masłowski,, The Institute of Automatic Control and Robotics (FM/IACR)Faculty of Mechatronics (FM)
Certifying unit
Faculty of Power and Aeronautical Engineering (FPAE)
Affiliation unit
The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)
Study subject / specialization
, Automatyka i Robotyka (Automatic Control and Robotics)
(en) English
Defense Date
Issue date (year)
Internal identifier
MEL; PD-1679
Janusz Będkowski (FM/IACR) Janusz Będkowski,, The Institute of Automatic Control and Robotics (FM/IACR)Faculty of Mechatronics (FM) Andrzej Masłowski (FM/IACR) Andrzej Masłowski,, The Institute of Automatic Control and Robotics (FM/IACR)Faculty of Mechatronics (FM)
Keywords in Polish
roboty mobilne, lokalizacja obiektu mobilnego, odwzorowania kartograficzne
Keywords in English
SLAM, simultaneous localization and mapping, Kalman filter, mobile robot, localization, mapping
  • File: 1
    Simultaneous localization and mapping_Arman_Omrani.docx
  • File: 2
Request a WCAG compliant version

Uniform Resource Identifier

Are you sure?
Report incorrect data on this page