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<!doctype html><html lang="en">
<head>
<meta content="text/html; charset=utf-8" http-equiv="Content-Type">
<title>Simultaneous Localization and Mapping</title>
<meta content="width=device-width, initial-scale=1, shrink-to-fit=no" name="viewport">
<style data-fill-with="stylesheet">/******************************************************************************
* Style sheet for the W3C specifications *
*
* Special classes handled by this style sheet include:
*
* Indices
* - .toc for the Table of Contents (<ol class="toc">)
* + <span class="secno"> for the section numbers
* - #toc for the Table of Contents (<nav id="toc">)
* - ul.index for Indices (<a href="#ref">term</a><span>, in §N.M</span>)
* - table.index for Index Tables (e.g. for properties or elements)
*
* Structural Markup
* - table.data for general data tables
* -> use 'scope' attribute, <colgroup>, <thead>, and <tbody> for best results !
* -> use <table class='complex data'> for extra-complex tables
* -> use <td class='long'> for paragraph-length cell content
* -> use <td class='pre'> when manual line breaks/indentation would help readability
* - dl.switch for switch statements
* - ol.algorithm for algorithms (helps to visualize nesting)
* - .figure and .caption (HTML4) and figure and figcaption (HTML5)
* -> .sidefigure for right-floated figures
* - ins/del
*
* Code
* - pre and code
*
* Special Sections
* - .note for informative notes (div, p, span, aside, details)
* - .example for informative examples (div, p, pre, span)
* - .issue for issues (div, p, span)
* - .assertion for assertions (div, p, span)
* - .advisement for loud normative statements (div, p, strong)
* - .annoying-warning for spec obsoletion notices (div, aside, details)
*
* Definition Boxes
* - pre.def for WebIDL definitions
* - table.def for tables that define other entities (e.g. CSS properties)
* - dl.def for definition lists that define other entitles (e.g. HTML elements)
*
* Numbering
* - .secno for section numbers in .toc and headings (<span class='secno'>3.2</span>)
* - .marker for source-inserted example/figure/issue numbers (<span class='marker'>Issue 4</span>)
* - ::before styled for CSS-generated issue/example/figure numbers:
* -> Documents wishing to use this only need to add
* figcaption::before,
* .caption::before { content: "Figure " counter(figure) " "; }
* .example::before { content: "Example " counter(example) " "; }
* .issue::before { content: "Issue " counter(issue) " "; }
*
* Header Stuff (ignore, just don't conflict with these classes)
* - .head for the header
* - .copyright for the copyright
*
* Miscellaneous
* - .overlarge for things that should be as wide as possible, even if
* that overflows the body text area. This can be used on an item or
* on its container, depending on the effect desired.
* Note that this styling basically doesn't help at all when printing,
* since A4 paper isn't much wider than the max-width here.
* It's better to design things to fit into a narrower measure if possible.
* - js-added ToC jump links (see fixup.js)
*
******************************************************************************/
/******************************************************************************/
/* Body */
/******************************************************************************/
body {
counter-reset: example figure issue;
/* Layout */
max-width: 50em; /* limit line length to 50em for readability */
margin: 0 auto; /* center text within page */
padding: 1.6em 1.5em 2em 50px; /* assume 16px font size for downlevel clients */
padding: 1.6em 1.5em 2em calc(26px + 1.5em); /* leave space for status flag */
/* Typography */
line-height: 1.5;
font-family: sans-serif;
widows: 2;
orphans: 2;
word-wrap: break-word;
overflow-wrap: break-word;
hyphens: auto;
/* Colors */
color: black;
background: white top left fixed no-repeat;
background-size: 25px auto;
}
/******************************************************************************/
/* Front Matter & Navigation */
/******************************************************************************/
/** Header ********************************************************************/
div.head { margin-bottom: 1em }
div.head hr { border-style: solid; }
div.head h1 {
font-weight: bold;
margin: 0 0 .1em;
font-size: 220%;
}
div.head h2 { margin-bottom: 1.5em;}
/** W3C Logo ******************************************************************/
.head .logo {
float: right;
margin: 0.4rem 0 0.2rem .4rem;
}
.head img[src*="logos/W3C"] {
display: block;
border: solid #1a5e9a;
border-width: .65rem .7rem .6rem;
border-radius: .4rem;
background: #1a5e9a;
color: white;
font-weight: bold;
}
.head a:hover > img[src*="logos/W3C"],
.head a:focus > img[src*="logos/W3C"] {
opacity: .8;
}
.head a:active > img[src*="logos/W3C"] {
background: #c00;
border-color: #c00;
}
/* see also additional rules in Link Styling section */
/** Copyright *****************************************************************/
p.copyright,
p.copyright small { font-size: small }
/** Back to Top / ToC Toggle **************************************************/
@media print {
#toc-nav {
display: none;
}
}
@media not print {
#toc-nav {
position: fixed;
z-index: 2;
bottom: 0; left: 0;
margin: 0;
min-width: 1.33em;
border-top-right-radius: 2rem;
box-shadow: 0 0 2px;
font-size: 1.5em;
color: black;
}
#toc-nav > a {
display: block;
white-space: nowrap;
height: 1.33em;
padding: .1em 0.3em;
margin: 0;
background: white;
box-shadow: 0 0 2px;
border: none;
border-top-right-radius: 1.33em;
background: white;
}
#toc-nav > #toc-jump {
padding-bottom: 2em;
margin-bottom: -1.9em;
}
#toc-nav > a:hover,
#toc-nav > a:focus {
background: #f8f8f8;
}
#toc-nav > a:not(:hover):not(:focus) {
color: #707070;
}
/* statusbar gets in the way on keyboard focus; remove once browsers fix */
#toc-nav > a[href="#toc"]:not(:hover):focus:last-child {
padding-bottom: 1.5rem;
}
#toc-nav:not(:hover) > a:not(:focus) > span + span {
/* Ideally this uses :focus-within on #toc-nav */
display: none;
}
#toc-nav > a > span + span {
padding-right: 0.2em;
}
#toc-toggle-inline {
vertical-align: 0.05em;
font-size: 80%;
color: gray;
color: hsla(203,20%,40%,.7);
border-style: none;
background: transparent;
position: relative;
}
#toc-toggle-inline:hover:not(:active),
#toc-toggle-inline:focus:not(:active) {
text-shadow: 1px 1px silver;
top: -1px;
left: -1px;
}
#toc-nav :active {
color: #C00;
}
}
/** ToC Sidebar ***************************************************************/
/* Floating sidebar */
@media screen {
body.toc-sidebar #toc {
position: fixed;
top: 0; bottom: 0;
left: 0;
width: 23.5em;
max-width: 80%;
max-width: calc(100% - 2em - 26px);
overflow: auto;
padding: 0 1em;
padding-left: 42px;
padding-left: calc(1em + 26px);
background: inherit;
background-color: #f7f8f9;
z-index: 1;
box-shadow: -.1em 0 .25em rgba(0,0,0,.1) inset;
}
body.toc-sidebar #toc h2 {
margin-top: .8rem;
font-variant: small-caps;
font-variant: all-small-caps;
text-transform: lowercase;
font-weight: bold;
color: gray;
color: hsla(203,20%,40%,.7);
}
body.toc-sidebar #toc-jump:not(:focus) {
width: 0;
height: 0;
padding: 0;
position: absolute;
overflow: hidden;
}
}
/* Hide main scroller when only the ToC is visible anyway */
@media screen and (max-width: 28em) {
body.toc-sidebar {
overflow: hidden;
}
}
/* Sidebar with its own space */
@media screen and (min-width: 78em) {
body:not(.toc-inline) #toc {
position: fixed;
top: 0; bottom: 0;
left: 0;
width: 23.5em;
overflow: auto;
padding: 0 1em;
padding-left: 42px;
padding-left: calc(1em + 26px);
background: inherit;
background-color: #f7f8f9;
z-index: 1;
box-shadow: -.1em 0 .25em rgba(0,0,0,.1) inset;
}
body:not(.toc-inline) #toc h2 {
margin-top: .8rem;
font-variant: small-caps;
font-variant: all-small-caps;
text-transform: lowercase;
font-weight: bold;
color: gray;
color: hsla(203,20%,40%,.7);
}
body:not(.toc-inline) {
padding-left: 29em;
}
/* See also Overflow section at the bottom */
body:not(.toc-inline) #toc-jump:not(:focus) {
width: 0;
height: 0;
padding: 0;
position: absolute;
overflow: hidden;
}
}
@media screen and (min-width: 90em) {
body:not(.toc-inline) {
margin: 0 4em;
}
}
/******************************************************************************/
/* Sectioning */
/******************************************************************************/
/** Headings ******************************************************************/
h1, h2, h3, h4, h5, h6, dt {
page-break-after: avoid;
page-break-inside: avoid;
font: 100% sans-serif; /* Reset all font styling to clear out UA styles */
font-family: inherit; /* Inherit the font family. */
line-height: 1.2; /* Keep wrapped headings compact */
hyphens: manual; /* Hyphenated headings look weird */
}
h2, h3, h4, h5, h6 {
margin-top: 3rem;
}
h1, h2, h3 {
color: #005A9C;
background: transparent;
}
h1 { font-size: 170%; }
h2 { font-size: 140%; }
h3 { font-size: 120%; }
h4 { font-weight: bold; }
h5 { font-style: italic; }
h6 { font-variant: small-caps; }
dt { font-weight: bold; }
/** Subheadings ***************************************************************/
h1 + h2,
#subtitle {
/* #subtitle is a subtitle in an H2 under the H1 */
margin-top: 0;
}
h2 + h3,
h3 + h4,
h4 + h5,
h5 + h6 {
margin-top: 1.2em; /* = 1 x line-height */
}
/** Section divider ***********************************************************/
:not(.head) > hr {
font-size: 1.5em;
text-align: center;
margin: 1em auto;
height: auto;
border: transparent solid 0;
background: transparent;
}
:not(.head) > hr::before {
content: "\2727\2003\2003\2727\2003\2003\2727";
}
/******************************************************************************/
/* Paragraphs and Lists */
/******************************************************************************/
p {
margin: 1em 0;
}
dd > p:first-child,
li > p:first-child {
margin-top: 0;
}
ul, ol {
margin-left: 0;
padding-left: 2em;
}
li {
margin: 0.25em 0 0.5em;
padding: 0;
}
dl dd {
margin: 0 0 .5em 2em;
}
.head dd + dd { /* compact for header */
margin-top: -.5em;
}
/* Style for algorithms */
ol.algorithm ol:not(.algorithm),
.algorithm > ol ol:not(.algorithm) {
border-left: 0.5em solid #DEF;
}
/* Put nice boxes around each algorithm. */
[data-algorithm]:not(.heading) {
padding: .5em;
border: thin solid #ddd; border-radius: .5em;
margin: .5em 0;
}
[data-algorithm]:not(.heading) > :first-child {
margin-top: 0;
}
[data-algorithm]:not(.heading) > :last-child {
margin-bottom: 0;
}
/* Style for switch/case <dl>s */
dl.switch > dd > ol.only,
dl.switch > dd > .only > ol {
margin-left: 0;
}
dl.switch > dd > ol.algorithm,
dl.switch > dd > .algorithm > ol {
margin-left: -2em;
}
dl.switch {
padding-left: 2em;
}
dl.switch > dt {
text-indent: -1.5em;
margin-top: 1em;
}
dl.switch > dt + dt {
margin-top: 0;
}
dl.switch > dt::before {
content: '\21AA';
padding: 0 0.5em 0 0;
display: inline-block;
width: 1em;
text-align: right;
line-height: 0.5em;
}
/** Terminology Markup ********************************************************/
/******************************************************************************/
/* Inline Markup */
/******************************************************************************/
/** Terminology Markup ********************************************************/
dfn { /* Defining instance */
font-weight: bolder;
}
a > i { /* Instance of term */
font-style: normal;
}
dt dfn code, code.idl {
font-size: normal;
}
dfn var {
font-style: normal;
}
/** Change Marking ************************************************************/
del { color: red; text-decoration: line-through; }
ins { color: #080; text-decoration: underline; }
/** Miscellaneous improvements to inline formatting ***************************/
sup {
vertical-align: super;
font-size: 80%
}
/******************************************************************************/
/* Code */
/******************************************************************************/
/** General monospace/pre rules ***********************************************/
pre, code, samp {
font-family: Menlo, Consolas, "DejaVu Sans Mono", Monaco, monospace;
font-size: .9em;
page-break-inside: avoid;
hyphens: none;
text-transform: none;
}
pre code,
code code {
font-size: 100%;
}
pre {
margin-top: 1em;
margin-bottom: 1em;
overflow: auto;
}
/** Inline Code fragments *****************************************************/
/* Do something nice. */
/******************************************************************************/
/* Links */
/******************************************************************************/
/** General Hyperlinks ********************************************************/
/* We hyperlink a lot, so make it less intrusive */
a[href] {
color: #034575;
text-decoration: none;
border-bottom: 1px solid #707070;
/* Need a bit of extending for it to look okay */
padding: 0 1px 0;
margin: 0 -1px 0;
}
a:visited {
border-bottom-color: #BBB;
}
/* Use distinguishing colors when user is interacting with the link */
a[href]:focus,
a[href]:hover {
background: #f8f8f8;
background: rgba(75%, 75%, 75%, .25);
border-bottom-width: 3px;
margin-bottom: -2px;
}
a[href]:active {
color: #C00;
border-color: #C00;
}
/* Backout above styling for W3C logo */
.head .logo,
.head .logo a {
border: none;
text-decoration: none;
background: transparent;
}
/******************************************************************************/
/* Images */
/******************************************************************************/
img {
border-style: none;
}
/* For autogen numbers, add
.caption::before, figcaption::before { content: "Figure " counter(figure) ". "; }
*/
figure, .figure, .sidefigure {
page-break-inside: avoid;
text-align: center;
margin: 2.5em 0;
}
.figure img, .sidefigure img, figure img,
.figure object, .sidefigure object, figure object {
max-width: 100%;
margin: auto;
}
.figure pre, .sidefigure pre, figure pre {
text-align: left;
display: table;
margin: 1em auto;
}
.figure table, figure table {
margin: auto;
}
@media screen and (min-width: 20em) {
.sidefigure {
float: right;
width: 50%;
margin: 0 0 0.5em 0.5em
}
}
.caption, figcaption, caption {
font-style: italic;
font-size: 90%;
}
.caption::before, figcaption::before, figcaption > .marker {
font-weight: bold;
}
.caption, figcaption {
counter-increment: figure;
}
/* DL list is indented 2em, but figure inside it is not */
dd > .figure, dd > figure { margin-left: -2em }
/******************************************************************************/
/* Colored Boxes */
/******************************************************************************/
.issue, .note, .example, .assertion, .advisement, blockquote {
padding: .5em;
border: .5em;
border-left-style: solid;
page-break-inside: avoid;
}
span.issue, span.note {
padding: .1em .5em .15em;
border-right-style: solid;
}
.issue,
.note,
.example,
.advisement,
.assertion,
blockquote {
margin: 1em auto;
}
.note > p:first-child,
.issue > p:first-child,
blockquote > :first-child {
margin-top: 0;
}
blockquote > :last-child {
margin-bottom: 0;
}
/** Blockquotes ***************************************************************/
blockquote {
border-color: silver;
}
/** Open issue ****************************************************************/
.issue {
border-color: #E05252;
background: #FBE9E9;
counter-increment: issue;
overflow: auto;
}
.issue::before, .issue > .marker {
text-transform: uppercase;
color: #AE1E1E;
padding-right: 1em;
text-transform: uppercase;
}
/* Add .issue::before { content: "Issue " counter(issue) " "; } for autogen numbers,
or use class="marker" to mark up the issue number in source. */
/** Example *******************************************************************/
.example {
border-color: #E0CB52;
background: #FCFAEE;
counter-increment: example;
overflow: auto;
clear: both;
}
.example::before, .example > .marker {
text-transform: uppercase;
color: #827017;
min-width: 7.5em;
display: block;
}
/* Add .example::before { content: "Example " counter(example) " "; } for autogen numbers,
or use class="marker" to mark up the example number in source. */
/** Non-normative Note ********************************************************/
.note {
border-color: #52E052;
background: #E9FBE9;
overflow: auto;
}
.note::before, .note > .marker,
details.note > summary::before,
details.note > summary > .marker {
text-transform: uppercase;
display: block;
color: hsl(120, 70%, 30%);
}
/* Add .note::before { content: "Note"; } for autogen label,
or use class="marker" to mark up the label in source. */
details.note > summary {
display: block;
color: hsl(120, 70%, 30%);
}
details.note[open] > summary {
border-bottom: 1px silver solid;
}
/** Assertion Box *************************************************************/
/* for assertions in algorithms */
.assertion {
border-color: #AAA;
background: #EEE;
}
/** Advisement Box ************************************************************/
/* for attention-grabbing normative statements */
.advisement {
border-color: orange;
border-style: none solid;
background: #FFEECC;
}
strong.advisement {
display: block;
text-align: center;
}
.advisement > .marker {
color: #B35F00;
}
/** Spec Obsoletion Notice ****************************************************/
/* obnoxious obsoletion notice for older/abandoned specs. */
details {
display: block;
}
summary {
font-weight: bolder;
}
.annoying-warning:not(details),
details.annoying-warning:not([open]) > summary,
details.annoying-warning[open] {
background: #fdd;
color: red;
font-weight: bold;
padding: .75em 1em;
border: thick red;
border-style: solid;
border-radius: 1em;
}
.annoying-warning :last-child {
margin-bottom: 0;
}
@media not print {
details.annoying-warning[open] {
position: fixed;
left: 1em;
right: 1em;
bottom: 1em;
z-index: 1000;
}
}
details.annoying-warning:not([open]) > summary {
text-align: center;
}
/** Entity Definition Boxes ***************************************************/
.def {
padding: .5em 1em;
background: #DEF;
margin: 1.2em 0;
border-left: 0.5em solid #8CCBF2;
}
/******************************************************************************/
/* Tables */
/******************************************************************************/
th, td {
text-align: left;
text-align: start;
}
/** Property/Descriptor Definition Tables *************************************/
table.def {
/* inherits .def box styling, see above */
width: 100%;
border-spacing: 0;
}
table.def td,
table.def th {
padding: 0.5em;
vertical-align: baseline;
border-bottom: 1px solid #bbd7e9;
}
table.def > tbody > tr:last-child th,
table.def > tbody > tr:last-child td {
border-bottom: 0;
}
table.def th {
font-style: italic;
font-weight: normal;
padding-left: 1em;
width: 3em;
}
/* For when values are extra-complex and need formatting for readability */
table td.pre {
white-space: pre-wrap;
}
/* A footnote at the bottom of a def table */
table.def td.footnote {
padding-top: 0.6em;
}
table.def td.footnote::before {
content: " ";
display: block;
height: 0.6em;
width: 4em;
border-top: thin solid;
}
/** Data tables (and properly marked-up index tables) *************************/
/*
<table class="data"> highlights structural relationships in a table
when correct markup is used (e.g. thead/tbody, th vs. td, scope attribute)
Use class="complex data" for particularly complicated tables --
(This will draw more lines: busier, but clearer.)
Use class="long" on table cells with paragraph-like contents
(This will adjust text alignment accordingly.)
Alternately use class="longlastcol" on tables, to have the last column assume "long".
*/
table {
word-wrap: normal;
overflow-wrap: normal;
hyphens: manual;
}
table.data,
table.index {
margin: 1em auto;
border-collapse: collapse;
border: hidden;
width: 100%;
}
table.data caption,
table.index caption {
max-width: 50em;
margin: 0 auto 1em;
}
table.data td, table.data th,
table.index td, table.index th {
padding: 0.5em 1em;
border-width: 1px;
border-color: silver;
border-top-style: solid;
}
table.data thead td:empty {
padding: 0;
border: 0;
}
table.data thead,
table.index thead,
table.data tbody,
table.index tbody {
border-bottom: 2px solid;
}
table.data colgroup,
table.index colgroup {
border-left: 2px solid;
}
table.data tbody th:first-child,
table.index tbody th:first-child {
border-right: 2px solid;
border-top: 1px solid silver;
padding-right: 1em;
}
table.data th[colspan],
table.data td[colspan] {
text-align: center;
}
table.complex.data th,
table.complex.data td {
border: 1px solid silver;
text-align: center;
}
table.data.longlastcol td:last-child,
table.data td.long {
vertical-align: baseline;
text-align: left;
}
table.data img {
vertical-align: middle;
}
/*
Alternate table alignment rules
table.data,
table.index {
text-align: center;
}
table.data thead th[scope="row"],
table.index thead th[scope="row"] {
text-align: right;
}
table.data tbody th:first-child,
table.index tbody th:first-child {
text-align: right;
}
Possible extra rowspan handling
table.data tbody th[rowspan]:not([rowspan='1']),
table.index tbody th[rowspan]:not([rowspan='1']),
table.data tbody td[rowspan]:not([rowspan='1']),
table.index tbody td[rowspan]:not([rowspan='1']) {
border-left: 1px solid silver;
}
table.data tbody th[rowspan]:first-child,
table.index tbody th[rowspan]:first-child,
table.data tbody td[rowspan]:first-child,
table.index tbody td[rowspan]:first-child{
border-left: 0;
border-right: 1px solid silver;
}
*/
/******************************************************************************/
/* Indices */
/******************************************************************************/
/** Table of Contents *********************************************************/
.toc a {
/* More spacing; use padding to make it part of the click target. */
padding-top: 0.1rem;
/* Larger, more consistently-sized click target */
display: block;
/* Reverse color scheme */
color: black;
border-color: #3980B5;
border-bottom-width: 3px !important;
margin-bottom: 0px !important;
}
.toc a:visited {
border-color: #054572;
}
.toc a:not(:focus):not(:hover) {
/* Allow colors to cascade through from link styling */
border-bottom-color: transparent;
}
.toc, .toc ol, .toc ul, .toc li {
list-style: none; /* Numbers must be inlined into source */
/* because generated content isn't search/selectable and markers can't do multilevel yet */
margin: 0;
padding: 0;
line-height: 1.1rem; /* consistent spacing */
}
/* ToC not indented until third level, but font style & margins show hierarchy */
.toc > li { font-weight: bold; }
.toc > li li { font-weight: normal; }
.toc > li li li { font-size: 95%; }
.toc > li li li li { font-size: 90%; }
.toc > li li li li li { font-size: 85%; }
.toc > li { margin: 1.5rem 0; }
.toc > li li { margin: 0.3rem 0; }
.toc > li li li { margin-left: 2rem; }